EscapeController Class Reference

#include <EscapeController.h>

Inheritance diagram for EscapeController:

Collaboration diagram for EscapeController:

Public Member Functions
	EscapeController (const double prefLength=5.0, std::string args="_Escape", std::string resourcePath="", std::string config="Config.ini")
virtual	~EscapeController ()
virtual void	onSetup (EscapeModel &subject)
virtual void	onStep (EscapeModel &subject, double dt)
virtual void	onTeardown (EscapeModel &subject)
virtual void	onAttach (EscapeModel &subject)

Protected Member Functions
virtual vector< vector< double > >	transformActions (vector< vector< double > > act)
virtual void	applyActions (EscapeModel &subject, vector< vector< double > > act)

Detailed Description

Escape Controller for T6

Definition at line 45 of file EscapeController.h.

Constructor & Destructor Documentation

virtual EscapeController::~EscapeController ( )

inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 55 of file EscapeController.h.

Member Function Documentation

void EscapeController::applyActions ( EscapeModel &  subject, vector< vector< double > >  actions  )

protectedvirtual

Defines each cluster's sine wave according to actions

Definition at line 184 of file EscapeController.cpp.

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virtual void tgObserver< EscapeModel >::onAttach ( EscapeModel &  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 EscapeController::onSetup ( EscapeModel &  subject )

virtual

Set the lengths of the muscles and initialize the learning adapter

Reimplemented from tgObserver< EscapeModel >.

Definition at line 72 of file EscapeController.cpp.

void EscapeController::onStep ( EscapeModel &  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

Implements tgObserver< EscapeModel >.

Definition at line 102 of file EscapeController.cpp.

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void EscapeController::onTeardown ( EscapeModel &  subject )

virtual

Notify the observers when a teardown action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented from tgObserver< EscapeModel >.

Definition at line 123 of file EscapeController.cpp.

vector< vector< double > > EscapeController::transformActions ( vector< vector< double > >  actions )

protectedvirtual

Returns the modified actions 2D vector such that each action value is now scaled to fit the model Invariant: actions[x].size() == 4 for all legal values of x Invariant: Each actions[] contains: amplitude, angularFrequency, phaseChange, dcOffset

Definition at line 144 of file EscapeController.cpp.

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The documentation for this class was generated from the following files:

• examples/craterEscape/EscapeController.h
• examples/craterEscape/EscapeController.cpp