#include <BaseSpineCPGControl.h>

Inherits tgObserver< BaseSpineModelLearning >, and tgSubject< BaseSpineCPGControl >.

Inherited by KinematicSpineCPGControl, LearningSpineJSON, LearningSpineSine, OctaCLSine, SpineFeedbackControl, and TetraSpineCPGControl.

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Classes
struct	Config

Public Member Functions
	BaseSpineCPGControl (BaseSpineCPGControl::Config config, std::string args, std::string resourcePath="", std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini")

virtual void	onStep (BaseSpineModelLearning &subject, double dt)

virtual void	onSetup (BaseSpineModelLearning &subject)

virtual void	onTeardown (BaseSpineModelLearning &subject)

const double	getCPGValue (std::size_t i) const

double	getScore () const

virtual void	onAttach (BaseSpineModelLearning &subject)

void	attach (tgObserver< BaseSpineCPGControl > *pObserver)

void	notifyStep (double dt)

void	notifySetup ()

void	notifyTeardown ()

Protected Member Functions
virtual array_4D	scaleEdgeActions (std::vector< std::vector< double > > actions)

virtual array_2D	scaleNodeActions (std::vector< std::vector< double > > actions)

virtual void	setupCPGs (BaseSpineModelLearning &subject, array_2D nodeActions, array_4D edgeActions)

Protected Attributes
CPGEquations *	m_pCPGSys

std::vector < tgCPGActuatorControl * >	m_allControllers

BaseSpineCPGControl::Config	m_config

std::string	edgeConfigFilename

std::string	nodeConfigFilename

configuration	nodeConfigData

configuration	edgeConfigData

AnnealEvolution	edgeEvolution

AnnealEvolution	nodeEvolution

AnnealAdapter	edgeAdapter

AnnealAdapter	nodeAdapter

bool	nodeLearning

bool	edgeLearning

std::vector< double >	initConditions

std::size_t	segments

tgDataObserver	m_dataObserver

double	m_updateTime

std::vector< double >	scores

bool	bogus

Detailed Description

BaseSpineCPGControl learns the parameters for a CPG system on a spine like tensegrity structure specified as a BaseSpineModelLearning. Parameters are generated by AnnealEvolution and used in the CPGEquations family of classes. tgImpedanceController controllers are used for the detailed muscle control. Due to the number of parameters, the learned parameters are split into one config file for the nodes and another for the CPG's "edges"

Definition at line 61 of file BaseSpineCPGControl.h.

Constructor & Destructor Documentation

BaseSpineCPGControl::BaseSpineCPGControl	(	BaseSpineCPGControl::Config	config,
		std::string	args,
		std::string	resourcePath = `""`,
		std::string	ec = `"edgeConfig.ini"`,
		std::string	nc = `"nodeConfig.ini"`
	)

Defining the adapters here assumes the controller is around and attached for the lifecycle of the learning runs. I.E. that the setup and teardown functions are used for tgModel

Definition at line 133 of file BaseSpineCPGControl.cpp.

Member Function Documentation

void tgSubject< BaseSpineCPGControl >::attach ( tgObserver< BaseSpineCPGControl > * pObserver )

inherited

Attach an observer to the subject of the observer.

Parameters

[in,out] pObserver a pointer to an observer for the subject; do nothing if the pointer is NULL

void tgSubject< BaseSpineCPGControl >::notifySetup ( )

inherited

Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.

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void tgSubject< BaseSpineCPGControl >::notifyStep ( double dt )

inherited

Call tgObserver<T>::onStep() on all observers in the order in which they were attached.

Parameters

[in] dt the number of seconds since the previous call; do nothing if not positive

void tgSubject< BaseSpineCPGControl >::notifyTeardown ( )

inherited

Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.

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virtual void tgObserver< BaseSpineModelLearning >::onAttach ( BaseSpineModelLearning & subject )

inlinevirtualinherited

Notify the observers when an attach action has occurred. Will only occur once, typically before setup

Parameters

[in,out] subject the subject being observed

Definition at line 55 of file tgObserver.h.

void BaseSpineCPGControl::onSetup ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 175 of file BaseSpineCPGControl.cpp.

void BaseSpineCPGControl::onStep	(	BaseSpineModelLearning &	subject,
		double	dt
	)

virtual

Notify the observers when a step action has occurred.

Parameters

[in,out]	subject	the subject being observed
[in]	the	number of seconds since the previous call; must be positive

Todo:: add to config

Todo:: if bogus, stop trial (reset simulation)

Implements tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 253 of file BaseSpineCPGControl.cpp.

void BaseSpineCPGControl::onTeardown ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a teardown action has occurred.

Parameters

[in,out] subject the subject being observed

Todo:

consolidate with other controller classes.

Todo:

return length scale as a parameter

Reimplemented from tgObserver< BaseSpineModelLearning >.

Reimplemented in SpineFeedbackControl, OctaCLSine, and LearningSpineSine.

Definition at line 281 of file BaseSpineCPGControl.cpp.

array_4D BaseSpineCPGControl::scaleEdgeActions ( std::vector< std::vector< double > > actions )

protectedvirtual

Takes a vector of parameters reported by learning, and then converts it into a format used to assign to the CPGEdges Note that if the CPG edges change, this will need to change

Definition at line 364 of file BaseSpineCPGControl.cpp.

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