NTRT Simulator  Version: Master
 All Classes Namespaces Files Functions Variables Typedefs Friends Pages
JSONAchillesHierarchyControl Class Reference

#include <JSONAchillesHierarchyControl.h>

Inheritance diagram for JSONAchillesHierarchyControl:
Collaboration diagram for JSONAchillesHierarchyControl:

Classes

struct  Config
 

Public Member Functions

 JSONAchillesHierarchyControl (JSONAchillesHierarchyControl::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 spineNodeActions, array_2D legNodeActions, array_4D spineEdgeActions, array_4D hipEdgeActions, array_4D legEdgeActions, array_4D achillesEdgeActions)
 
virtual void setupHighCPGs (BaseQuadModelLearning &subject, array_2D highNodeActions, array_4D highEdgeActions)
 
virtual void setupHighLowCouplings (BaseQuadModelLearning &subject, Json::Value highLowEdgeActions)
 
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)
 
virtual void setupCPGs (BaseQuadModelLearning &subject, array_2D nodeActions, array_4D edgeActions)
 

Protected Attributes

JSONAchillesHierarchyControl::Config m_config
 
std::vector
< tgCPGActuatorControl * > 
m_spineControllers
 
std::vector
< tgCPGActuatorControl * > 
m_leftShoulderControllers
 
std::vector
< tgCPGActuatorControl * > 
m_rightShoulderControllers
 
std::vector
< tgCPGActuatorControl * > 
m_leftHipControllers
 
std::vector
< tgCPGActuatorControl * > 
m_rightHipControllers
 
std::vector
< tgCPGActuatorControl * > 
m_leftForelegControllers
 
std::vector
< tgCPGActuatorControl * > 
m_rightForelegControllers
 
std::vector
< tgCPGActuatorControl * > 
m_leftHindlegControllers
 
std::vector
< tgCPGActuatorControl * > 
m_rightHindlegControllers
 
std::vector
< tgCPGActuatorControl * > 
m_leftFrontAchillesControllers
 
std::vector
< tgCPGActuatorControl * > 
m_rightFrontAchillesControllers
 
std::vector
< tgCPGActuatorControl * > 
m_leftRearAchillesControllers
 
std::vector
< tgCPGActuatorControl * > 
m_rightRearAchillesControllers
 
std::vector
< tgCPGActuatorControl * > 
m_highControllers
 
neuralNetwork * nn
 
std::vector< std::vector
< double > > 
m_quadCOM
 
CPGEquationsm_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

JSONMetricsFeedbackControl 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 48 of file JSONAchillesHierarchyControl.h.

Constructor & Destructor Documentation

JSONAchillesHierarchyControl::JSONAchillesHierarchyControl ( JSONAchillesHierarchyControl::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 JSONAchillesHierarchyControl.cpp.

Member Function Documentation

void tgSubject< JSONQuadCPGControl >::attach ( tgObserver< JSONQuadCPGControl > *  pObserver)
inherited

Attach an observer to the subject of the observer.

Parameters
[in,out]pObservera 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]dtthe 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]subjectthe subject being observed

Definition at line 55 of file tgObserver.h.

void JSONAchillesHierarchyControl::onSetup ( BaseQuadModelLearning subject)
virtual

Notify the observers when a setup action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented from JSONQuadCPGControl.

Definition at line 141 of file JSONAchillesHierarchyControl.cpp.

Here is the call graph for this function:

void JSONAchillesHierarchyControl::onStep ( BaseQuadModelLearning subject,
double  dt 
)
virtual

Notify the observers when a step action has occurred.

Parameters
[in,out]subjectthe subject being observed
[in]thenumber 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 267 of file JSONAchillesHierarchyControl.cpp.

void JSONAchillesHierarchyControl::onTeardown ( BaseQuadModelLearning subject)
virtual

Notify the observers when a teardown action has occurred.

Parameters
[in,out]subjectthe 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 313 of file JSONAchillesHierarchyControl.cpp.

Here is the call graph for this function:

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 JSONAchillesHierarchyControl::scaleEdgeActions ( Json::Value  actions,
int  segmentSpan,
int  theirMuscles,
int  ourMuscles 
)
protectedvirtual
Todo:
consider adding exception here

Definition at line 1370 of file JSONAchillesHierarchyControl.cpp.

Here is the caller graph for this function:

void JSONQuadCPGControl::setupCPGs ( BaseQuadModelLearning subject,
array_2D  nodeActions,
array_4D  edgeActions 
)
protectedvirtualinherited
Todo:
: redo with for_each

Definition at line 205 of file JSONQuadCPGControl.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:


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