19 #ifndef SPINE_GOAL_CONTROL_H
20 #define SPINE_GOAL_CONTROL_H
36 #include "LinearMath/btVector3.h"
67 double lp = -1 * M_PI,
85 const double freqFeedbackMin;
86 const double freqFeedbackMax;
87 const double ampFeedbackMin;
88 const double ampFeedbackMax;
89 const double phaseFeedbackMin;
90 const double phaseFeedbackMax;
92 const double tensFeedback;
98 std::string resourcePath =
"",
99 std::string ec =
"edgeConfig.ini",
100 std::string nc =
"nodeConfig.ini",
101 std::string fc =
"feedbackConfig.ini",
102 std::string gc =
"goalConfig.ini");
116 virtual array_2D scaleNodeActions (std::vector< std::vector <double> > actions);
126 std::vector<double> transformFeedbackActions(std::vector< std::vector<double> >& actions,
configuration& configData);
132 std::string feedbackConfigFilename;
135 bool feedbackLearning;
138 std::string goalConfigFilename;
145 #endif // SPINE_FEEDBACK_CONTROL_H
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, double tf=0.0)
SpineGoalControl(SpineGoalControl::Config config, std::string args, std::string resourcePath="", std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini", std::string fc="feedbackConfig.ini", std::string gc="goalConfig.ini")
A class to read a learning configuration from a .ini file.
virtual void onTeardown(BaseSpineModelLearning &subject)
Defines a class NeuroAdapter to pass parameters from NeuroEvolution to a controller.
A controller for the template class BaseSpineModelLearning.
Top level class for NeuroEvolution.
virtual void onSetup(BaseSpineModelLearning &subject)
virtual void onStep(BaseSpineModelLearning &subject, double dt)