SpineFeedbackControl.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef SPINE_FEEDBACK_CONTROL_H
#define SPINE_FEEDBACK_CONTROL_H

#include "examples/learningSpines/BaseSpineCPGControl.h"

#include "learning/NeuroEvolution/NeuroEvolution.h"
#include "learning/Adapters/NeuroAdapter.h"

class tgSpringCableActuator;

class SpineFeedbackControl : public BaseSpineCPGControl
{
public:

struct Config : public BaseSpineCPGControl::Config
    {
    public:
        Config( int ss,
        int tm,
        int om,
        int param,
        int segnum = 6,
        double ct = 0.1,
        double la = 0,
        double ha = 30,
        double lp = -1 * M_PI,
        double hp = M_PI,
        double kt = 0.0,
        double kp = 1000.0,
        double kv = 100.0,
        bool def = true,
        double cl = 10.0,
        double lf = 0.0,
        double hf = 30.0,
        double ffMin = 0.0,
        double ffMax = 0.0,
        double afMin = 0.0,
        double afMax = 0.0,
        double pfMin = 0.0,
        double pfMax = 0.0);
        
        const double freqFeedbackMin;
        const double freqFeedbackMax;
        const double ampFeedbackMin;
        const double ampFeedbackMax;
        const double phaseFeedbackMin;
        const double phaseFeedbackMax;
        
    };

    SpineFeedbackControl(SpineFeedbackControl::Config config,   
                                                                                                                std::string args,
                                                                                                                std::string resourcePath = "",
                            std::string ec = "edgeConfig.ini",
                            std::string nc = "nodeConfig.ini",
                            std::string fc = "feedbackConfig.ini");
    
    virtual ~SpineFeedbackControl() {}
    
    virtual void onSetup(BaseSpineModelLearning& subject);
    
    virtual void onStep(BaseSpineModelLearning& subject, double dt);
    
    virtual void onTeardown(BaseSpineModelLearning& subject);
                
protected:

    virtual void setupCPGs(BaseSpineModelLearning& subject, array_2D nodeActions, array_4D edgeActions);
    
    virtual array_2D scaleNodeActions (std::vector< std::vector <double> > actions);
    
    std::vector<double> getFeedback(BaseSpineModelLearning& subject);
    
    std::vector<double> getCableState(const tgSpringCableActuator& cable);
    
    std::vector<double> transformFeedbackActions(std::vector< std::vector<double> >& actions);
    
    SpineFeedbackControl::Config m_config;
    
    std::string feedbackConfigFilename;
    
    NeuroEvolution feedbackEvolution;
    NeuroAdapter feedbackAdapter;
    
    bool feedbackLearning;
    
    configuration feedbackConfigData;
};

#endif // SPINE_FEEDBACK_CONTROL_H