NTRT Simulator
Version: Master
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#include <JSONMGCPGGeneralControl.h>
Inherits tgObserver< BaseQuadModelLearning >, and tgSubject< JSONMGCPGGeneralControl >.
Inherited by JSONMGFeedbackControl.
Classes | |
struct | Config |
Public Member Functions | |
JSONMGCPGGeneralControl (JSONMGCPGGeneralControl::Config config, std::string args, std::string resourcePath="") | |
virtual void | onStep (BaseQuadModelLearning &subject, double dt) |
virtual void | onSetup (BaseQuadModelLearning &subject) |
virtual void | onTeardown (BaseQuadModelLearning &subject) |
const double | getCPGValue (std::size_t i) const |
double | getScore () const |
virtual void | onAttach (BaseQuadModelLearning &subject) |
void | attach (tgObserver< JSONMGCPGGeneralControl > *pObserver) |
void | notifyStep (double dt) |
void | notifySetup () |
void | notifyTeardown () |
Protected Member Functions | |
virtual array_3D | scaleEdgeActions (Json::Value edgeParam) |
virtual array_2D | scaleNodeActions (Json::Value actions) |
virtual void | setupCPGs (BaseQuadModelLearning &subject, array_2D nodeActions, array_3D edgeActions) |
Protected Attributes | |
CPGEquations * | m_pCPGSys |
std::vector < tgCPGMGActuatorControl * > | m_allControllers |
JSONMGCPGGeneralControl::Config | m_config |
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 |
JSONMGCPGGeneralControl 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 63 of file JSONMGCPGGeneralControl.h.
JSONMGCPGGeneralControl::JSONMGCPGGeneralControl | ( | JSONMGCPGGeneralControl::Config | config, |
std::string | args, | ||
std::string | resourcePath = "" |
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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 137 of file JSONMGCPGGeneralControl.cpp.
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inherited |
Attach an observer to the subject of the observer.
[in,out] | pObserver | a pointer to an observer for the subject; do nothing if the pointer is NULL |
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inherited |
Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.
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inherited |
Call tgObserver<T>::onStep() on all observers in the order in which they were attached.
[in] | dt | the number of seconds since the previous call; do nothing if not positive |
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inherited |
Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.
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inlinevirtualinherited |
Notify the observers when an attach action has occurred. Will only occur once, typically before setup
[in,out] | subject | the subject being observed |
Definition at line 55 of file tgObserver.h.
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virtual |
Notify the observers when a setup action has occurred.
[in,out] | subject | the subject being observed |
Reimplemented from tgObserver< BaseQuadModelLearning >.
Reimplemented in JSONMGFeedbackControl.
Definition at line 163 of file JSONMGCPGGeneralControl.cpp.
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virtual |
Notify the observers when a step action has occurred.
[in,out] | subject | the subject being observed |
[in] | the | number of seconds since the previous call; must be positive |
Implements tgObserver< BaseQuadModelLearning >.
Reimplemented in JSONMGFeedbackControl.
Definition at line 253 of file JSONMGCPGGeneralControl.cpp.
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virtual |
Notify the observers when a teardown action has occurred.
[in,out] | subject | the subject being observed |
Reimplemented from tgObserver< BaseQuadModelLearning >.
Reimplemented in JSONMGFeedbackControl.
Definition at line 281 of file JSONMGCPGGeneralControl.cpp.
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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
Reimplemented in JSONMGFeedbackControl.
Definition at line 389 of file JSONMGCPGGeneralControl.cpp.
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protectedvirtual |
Definition at line 205 of file JSONMGCPGGeneralControl.cpp.