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NeuroAdapter.h
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef NEUROADAPTER_H_
20 #define NEUROADAPTER_H_
21 
30 #include <vector>
31 #include "../NeuroEvolution/NeuroEvolution.h"
32 #include "../NeuroEvolution/NeuroEvoMember.h"
33 
35 {
36 public:
37  NeuroAdapter();
38  ~NeuroAdapter();
44  void initialize(NeuroEvolution *evo,bool isLearning,configuration config);
45  std::vector<std::vector<double> > step(double deltaTimeSeconds, std::vector<double> state);
46  void endEpisode(std::vector<double> state);
47 
48 private:
49  int numberOfActions;
50  int numberOfStates;
51  int numberOfControllers;
52  NeuroEvolution *neuroEvo;
53  std::vector< NeuroEvoMember *>currentControllers;
54  std::vector<double> initialPosition;
55  double errorOfFirstController;
57  double totalTime;
58 };
59 
60 #endif /* NEUROADAPTER_H_ */
void initialize(NeuroEvolution *evo, bool isLearning, configuration config)