#include <JSONAOHierarchyControl.h>

Inheritance diagram for JSONAOHierarchyControl:

Collaboration diagram for JSONAOHierarchyControl:

Classes
struct	Config

Public Member Functions
	JSONAOHierarchyControl (JSONAOHierarchyControl::Config config, std::string args, std::string resourcePath="")

virtual void	onSetup (BaseQuadModelLearning &subject)

virtual void	onStep (BaseQuadModelLearning &subject, double dt)

virtual void	onTeardown (BaseQuadModelLearning &subject)

const double	getCPGValue (std::size_t i) const

double	getScore () const

virtual void	onAttach (BaseQuadModelLearning &subject)

void	attach (tgObserver< JSONQuadCPGControl > *pObserver)

void	notifyStep (double dt)

void	notifySetup ()

void	notifyTeardown ()

Protected Member Functions
virtual void	setupCPGs (BaseQuadModelLearning &subject, array_2D achillesNodeActions, array_4D achillesEdgeActions)

virtual array_2D	scaleNodeActions (Json::Value actions, double highFreq, double freqFeedbackMax)

virtual array_4D	scaleEdgeActions (Json::Value actions, int segmentSpan, int theirMuscles, int ourMuscles)

std::vector< double >	getFeedback (BaseQuadModelLearning &subject)

std::vector< double >	getCableState (const tgSpringCableActuator &cable)

std::vector< double >	transformFeedbackActions (std::vector< std::vector< double > > &actions)

virtual array_4D	scaleEdgeActions (Json::Value edgeParam)

virtual array_2D	scaleNodeActions (Json::Value actions)

Protected Attributes
double	P

double	D

JSONAOHierarchyControl::Config	m_config

std::vector < tgCPGActuatorControl * >	m_leftFrontAchillesControllers

std::vector < tgCPGActuatorControl * >	m_rightFrontAchillesControllers

std::vector < tgCPGActuatorControl * >	m_leftRearAchillesControllers

std::vector < tgCPGActuatorControl * >	m_rightRearAchillesControllers

neuralNetwork *	nn

std::vector< std::vector < double > >	m_quadCOM

CPGEquations *	m_pCPGSys

std::vector < tgCPGActuatorControl * >	m_allControllers

std::vector< double >	initConditions

std::size_t	segments

tgDataObserver	m_dataObserver

double	m_updateTime

double	m_totalTime

std::vector< double >	scores

std::vector< double >	metrics

bool	bogus

std::string	controlFilename

std::string	controlFilePath

Detailed Description

JSONAOHierarchyControl learns the parameters for a CPG system on a spine like tensegrity structure specified as a BaseQuadModelLearning. 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 48 of file JSONAOHierarchyControl.h.

Constructor & Destructor Documentation

JSONAOHierarchyControl::JSONAOHierarchyControl	(	JSONAOHierarchyControl::Config	config,
		std::string	args,
		std::string	resourcePath = `""`
	)

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 126 of file JSONAOHierarchyControl.cpp.

Member Function Documentation

void tgSubject< JSONQuadCPGControl >::attach ( tgObserver< JSONQuadCPGControl > * 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< JSONQuadCPGControl >::notifySetup ( )

inherited

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

void tgSubject< JSONQuadCPGControl >::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< JSONQuadCPGControl >::notifyTeardown ( )

inherited

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

virtual void tgObserver< BaseQuadModelLearning >::onAttach ( BaseQuadModelLearning & 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 JSONAOHierarchyControl::onSetup ( BaseQuadModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from JSONQuadCPGControl.

Definition at line 141 of file JSONAOHierarchyControl.cpp.

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void JSONAOHierarchyControl::onStep	(	BaseQuadModelLearning &	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

Max and min heights added to config

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

Todo:: add to config

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

Reimplemented from JSONQuadCPGControl.

Definition at line 274 of file JSONAOHierarchyControl.cpp.

void JSONAOHierarchyControl::onTeardown ( BaseQuadModelLearning & 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

Todo:

consolidate with other controller classes.

Todo:

return length scale as a parameter

Reimplemented from JSONQuadCPGControl.

Definition at line 320 of file JSONAOHierarchyControl.cpp.

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array_4D JSONQuadCPGControl::scaleEdgeActions ( Json::Value edgeParam )

protectedvirtualinherited

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

Todo:: consider adding exception here

Definition at line 389 of file JSONQuadCPGControl.cpp.

array_4D JSONAOHierarchyControl::scaleEdgeActions	(	Json::Value	actions,
		int	segmentSpan,
		int	theirMuscles,
		int	ourMuscles
	)

protectedvirtual

Todo:: consider adding exception here

Definition at line 659 of file JSONAOHierarchyControl.cpp.

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

dev/dhustigschultz/MG_AchillesOnly_CPGH/JSONAOHierarchyControl.h
dev/dhustigschultz/MG_AchillesOnly_CPGH/JSONAOHierarchyControl.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation