#include <JSONMetricsFeedbackControl.h>

Inheritance diagram for JSONMetricsFeedbackControl:

Collaboration diagram for JSONMetricsFeedbackControl:

Classes
struct	Config

Public Member Functions
	JSONMetricsFeedbackControl (JSONMetricsFeedbackControl::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 nodeActions, array_4D edgeActions)

virtual array_2D	scaleNodeActions (Json::Value actions)

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

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

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

virtual void	printMetrics (BaseQuadModelLearning &subject)

virtual array_4D	scaleEdgeActions (Json::Value edgeParam)

Protected Attributes
JSONMetricsFeedbackControl::Config	m_config

std::vector < tgCPGActuatorControl * >	m_spineControllers

neuralNetwork *	nn

std::vector< double >	m_muscleTensionZero

std::vector< double >	m_muscleTensionOne

std::vector< double >	m_muscleTensionTwo

std::vector< double >	m_muscleTensionThree

std::vector< double >	m_muscleTensionFour

std::vector< double >	m_muscleTensionFive

std::vector< double >	m_muscleTensionSix

std::vector< double >	m_muscleTensionSeven

std::vector< double >	m_muscleTensionEight

std::vector< double >	m_muscleTensionNine

std::vector< double >	m_muscleTensionTen

std::vector< double >	m_muscleTensionEleven

std::vector< double >	m_muscleTensionTwelve

std::vector< double >	m_muscleTensionThirteen

std::vector< double >	m_muscleTensionFourteen

std::vector< double >	m_muscleTensionFifteen

std::vector< double >	m_muscleTensionSixteen

std::vector< double >	m_muscleTensionSeventeen

std::vector< double >	m_muscleTensionEighteen

std::vector< double >	m_muscleTensionNineteen

std::vector< double >	m_muscleTensionTwenty

std::vector< double >	m_muscleTensionTwentyOne

std::vector< double >	m_muscleTensionTwentyTwo

std::vector< double >	m_muscleTensionTwentyThree

std::vector< double >	m_muscleTensionTwentyFour

std::vector< double >	m_muscleTensionTwentyFive

std::vector< double >	m_muscleTensionTwentySix

std::vector< double >	m_muscleTensionTwentySeven

std::vector< double >	m_muscleTensionTwentyEight

std::vector< double >	m_muscleTensionTwentyNine

std::vector< double >	m_muscleTensionThirty

std::vector< double >	m_muscleTensionThirtyOne

std::vector< double >	m_muscleTensionThirtyTwo

std::vector< double >	m_muscleTensionThirtyThree

std::vector< double >	m_muscleTensionThirtyFour

std::vector< double >	m_muscleTensionThirtyFive

std::vector< double >	m_muscleTensionThirtySix

std::vector< double >	m_muscleTensionThirtySeven

std::vector< double >	m_muscleTensionThirtyEight

std::vector< double >	m_muscleTensionThirtyNine

std::vector< double >	m_muscleTensionForty

std::vector< double >	m_muscleTensionFortyOne

std::vector< double >	m_muscleTensionFortyTwo

std::vector< double >	m_muscleTensionFortyThree

std::vector< double >	m_muscleTensionFortyFour

std::vector< double >	m_muscleTensionFortyFive

std::vector< double >	m_muscleTensionFortySix

std::vector< double >	m_muscleTensionFortySeven

std::vector< double >	m_muscleTensionFortyEight

std::vector< double >	m_muscleTensionFortyNine

std::vector< double >	m_muscleTensionFifty

std::vector< double >	m_muscleTensionFiftyOne

std::vector< double >	m_muscleLengthZero

std::vector< double >	m_muscleLengthOne

std::vector< double >	m_muscleLengthTwo

std::vector< double >	m_muscleLengthThree

std::vector< double >	m_muscleLengthFour

std::vector< double >	m_muscleLengthFive

std::vector< double >	m_muscleLengthSix

std::vector< double >	m_muscleLengthSeven

std::vector< double >	m_muscleLengthEight

std::vector< double >	m_muscleLengthNine

std::vector< double >	m_muscleLengthTen

std::vector< double >	m_muscleLengthEleven

std::vector< double >	m_muscleLengthTwelve

std::vector< double >	m_muscleLengthThirteen

std::vector< double >	m_muscleLengthFourteen

std::vector< double >	m_muscleLengthFifteen

std::vector< double >	m_muscleLengthSixteen

std::vector< double >	m_muscleLengthSeventeen

std::vector< double >	m_muscleLengthEighteen

std::vector< double >	m_muscleLengthNineteen

std::vector< double >	m_muscleLengthTwenty

std::vector< double >	m_muscleLengthTwentyOne

std::vector< double >	m_muscleLengthTwentyTwo

std::vector< double >	m_muscleLengthTwentyThree

std::vector< double >	m_muscleLengthTwentyFour

std::vector< double >	m_muscleLengthTwentyFive

std::vector< double >	m_muscleLengthTwentySix

std::vector< double >	m_muscleLengthTwentySeven

std::vector< double >	m_muscleLengthTwentyEight

std::vector< double >	m_muscleLengthTwentyNine

std::vector< double >	m_muscleLengthThirty

std::vector< double >	m_muscleLengthThirtyOne

std::vector< double >	m_muscleLengthThirtyTwo

std::vector< double >	m_muscleLengthThirtyThree

std::vector< double >	m_muscleLengthThirtyFour

std::vector< double >	m_muscleLengthThirtyFive

std::vector< double >	m_muscleLengthThirtySix

std::vector< double >	m_muscleLengthThirtySeven

std::vector< double >	m_muscleLengthThirtyEight

std::vector< double >	m_muscleLengthThirtyNine

std::vector< double >	m_muscleLengthForty

std::vector< double >	m_muscleLengthFortyOne

std::vector< double >	m_muscleLengthFortyTwo

std::vector< double >	m_muscleLengthFortyThree

std::vector< double >	m_muscleLengthFortyFour

std::vector< double >	m_muscleLengthFortyFive

std::vector< double >	m_muscleLengthFortySix

std::vector< double >	m_muscleLengthFortySeven

std::vector< double >	m_muscleLengthFortyEight

std::vector< double >	m_muscleLengthFortyNine

std::vector< double >	m_muscleLengthFifty

std::vector< double >	m_muscleLengthFiftyOne

std::vector< std::vector < double > >	m_muscleTensionsAll

std::vector< std::vector < double > >	m_muscleLengthsAll

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

std::vector< double >	m_timeStep

std::vector< double >	m_tensions

std::vector< double >	m_lengths

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

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 47 of file JSONMetricsFeedbackControl.h.

Constructor & Destructor Documentation

JSONMetricsFeedbackControl::JSONMetricsFeedbackControl	(	JSONMetricsFeedbackControl::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 106 of file JSONMetricsFeedbackControl.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 JSONMetricsFeedbackControl::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 121 of file JSONMetricsFeedbackControl.cpp.

void JSONMetricsFeedbackControl::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 220 of file JSONMetricsFeedbackControl.cpp.

void JSONMetricsFeedbackControl::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 298 of file JSONMetricsFeedbackControl.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.

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

dev/dhustigschultz/BP_SC_SymmetricSpiral3/JSONMetricsFeedbackControl.h
dev/dhustigschultz/BP_SC_SymmetricSpiral3/JSONMetricsFeedbackControl.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation