#include <JSONCPGControl.h>

Inherits tgObserver< BaseSpineModelLearning >, and tgSubject< JSONCPGControl >.

Inherited by JSONFeedbackControl, JSONGoalControl, JSONMixedLearningControl, JSONQuadFeedbackControl, JSONQuadFeedbackControl, and JSONQuadFeedbackControl.

Collaboration diagram for JSONCPGControl:

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Classes
struct	Config

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

virtual void	onStep (BaseSpineModelLearning &subject, double dt)

virtual void	onSetup (BaseSpineModelLearning &subject)

virtual void	onTeardown (BaseSpineModelLearning &subject)

const double	getCPGValue (std::size_t i) const

double	getScore () const

virtual void	onAttach (BaseSpineModelLearning &subject)

void	attach (tgObserver< JSONCPGControl > *pObserver)

void	notifyStep (double dt)

void	notifySetup ()

void	notifyTeardown ()

Protected Member Functions
virtual array_4D	scaleEdgeActions (Json::Value edgeParam)

virtual array_2D	scaleNodeActions (Json::Value actions)

virtual void	setupCPGs (BaseSpineModelLearning &subject, array_2D nodeActions, array_4D edgeActions)

Protected Attributes
CPGEquations *	m_pCPGSys

std::vector < tgCPGActuatorControl * >	m_allControllers

JSONCPGControl::Config	m_config

std::vector< double >	initConditions

std::size_t	segments

tgDataObserver	m_dataObserver

double	m_updateTime

std::vector< double >	scores

bool	bogus

std::string	controlFilename

std::string	controlFilePath

Detailed Description

JSONCPGControl 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 58 of file JSONCPGControl.h.

Constructor & Destructor Documentation

JSONCPGControl::JSONCPGControl	(	JSONCPGControl::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 138 of file JSONCPGControl.cpp.

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Member Function Documentation

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

inherited

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

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

inherited

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

virtual void tgObserver< BaseSpineModelLearning >::onAttach ( BaseSpineModelLearning & 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 JSONCPGControl::onSetup ( BaseSpineModelLearning & subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Reimplemented in JSONGoalControl, JSONQuadFeedbackControl, JSONMixedLearningControl, JSONQuadFeedbackControl, JSONQuadFeedbackControl, JSONFeedbackControl, OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, and JSONGoalTension.

Definition at line 164 of file JSONCPGControl.cpp.

void JSONCPGControl::onStep	(	BaseSpineModelLearning &	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

Todo:: add to config

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

Implements tgObserver< BaseSpineModelLearning >.

Reimplemented in JSONGoalControl, JSONQuadFeedbackControl, JSONMixedLearningControl, JSONQuadFeedbackControl, JSONQuadFeedbackControl, JSONFeedbackControl, OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, and JSONGoalTension.

Definition at line 254 of file JSONCPGControl.cpp.

void JSONCPGControl::onTeardown ( BaseSpineModelLearning & 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

Reimplemented from tgObserver< BaseSpineModelLearning >.

Reimplemented in JSONGoalControl, JSONQuadFeedbackControl, JSONMixedLearningControl, JSONQuadFeedbackControl, JSONQuadFeedbackControl, JSONFeedbackControl, OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, and JSONGoalTension.

Definition at line 282 of file JSONCPGControl.cpp.

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

protectedvirtual

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