Public Member Functions | Protected Attributes

CB::HeadingSquaredError Class Reference

This class implements a Squared Error quadratic potential function for a Heading resources, s.t., = (1/2)*gamma^T*gamma. More...

#include <HeadingSquaredError.h>

Inheritance diagram for CB::HeadingSquaredError:
CB::ControlBasisPotentialFunction

Public Member Functions

 HeadingSquaredError ()
 Empty Constructor, needs to set configuration info.
 ~HeadingSquaredError ()
 Destructor.
virtual bool updatePotentialFunction ()
 inherited update function
virtual void startPotentialFunction ()
 inherited start function
virtual void stopPotentialFunction ()
 inherited stop function
virtual bool connectToInputs ()
 inherited connect function
std::string getPotentialName ()
 Getter for the potential function name.
double getPotential ()
 Getter for the potential.
yarp::sig::Vector getPotentialGradient ()
 Getter for the potential gradient.
bool isPotentialRunning ()
 is the potential function running?
int getInputSize ()
 Getter for the potential size.
void setUpdateDelay (double t)
 Setter for updated delay.
void postData ()
 virtual post data function to be filled in by abstract interface
void run ()
 main run function for pf (instatiates for thread)
void onStop ()
 onStop function
void setInputs (std::vector< std::string > inNames)
 Function to set input names.
bool needsReference ()
 returns whether the PF needs a reference input
std::string getSpace ()
 gets the space of the potential function
std::string getType ()
 gets the type of the potential function (the name representing the type of function.

Protected Attributes

std::string pfName
 the name of the potential function
std::string pfType
 the name of the type of function
std::string pfSpace
 the space of function
bool hasReference
 whether the PF needs a reference
bool running
 running flag
yarp::os::BufferedPort
< yarp::os::Bottle > 		outputPort
 The Yarp output port.
std::string outputPortName
 The Yarp output port name.
double updateDelay
 update delay (in seconds)
double potential
 the potential value
yarp::sig::Vector gradient
 the gradient of the potential wrt the input space
std::vector< yarp::sig::Vector * > inputs
 the input vector
std::vector< std::string > inputNames
 the name of the input resources
std::vector
< yarp::os::BufferedPort
< yarp::os::Bottle > * > 		inputPorts
 the input ports
int size
 the size of the input space
bool connectedToInputs
 connected to inputs flag
bool inputsSet
 set inputs flag

Detailed Description

This class implements a Squared Error quadratic potential function for a Heading resources, s.t., = (1/2)*gamma^T*gamma.

Implemented as gamma_reference - gamma_current.

Definition at line 14 of file HeadingSquaredError.h.

Member Function Documentation

int CB::ControlBasisPotentialFunction::getInputSize (  )  [inline, inherited]

Getter for the potential size.

Returns:
the size

Definition at line 139 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::size.

{ return size; }

double CB::ControlBasisPotentialFunction::getPotential (  )  [inline, inherited]

Getter for the potential.

Returns:
the potential

Definition at line 121 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::potential.

Referenced by CB::Controller::updateAction().

{ return potential; }

yarp::sig::Vector CB::ControlBasisPotentialFunction::getPotentialGradient (  )  [inline, inherited]

Getter for the potential gradient.

Returns:
the gradient

Definition at line 127 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::gradient.

Referenced by CB::Controller::updateAction().

{ return gradient; }

std::string CB::ControlBasisPotentialFunction::getPotentialName (  )  [inline, inherited]

Getter for the potential function name.

Returns:
the name

Definition at line 115 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::pfName.

Referenced by CB::Controller::Controller().

{ return pfName; }

std::string CB::ControlBasisPotentialFunction::getType (  )  [inline, inherited]

gets the type of the potential function (the name representing the type of function.

e.g., squared_error_pf)

Definition at line 321 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::pfType.

{ return pfType; }

bool CB::ControlBasisPotentialFunction::isPotentialRunning (  )  [inline, inherited]

is the potential function running?

Returns:
running

Definition at line 133 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::running.

Referenced by CB::Controller::startAction().

{ return running; }

void CB::ControlBasisPotentialFunction::setInputs ( std::vector< std::string >  inNames  )  [inline, inherited]

Function to set input names.

Parameters:
inNames vector of input names

Definition at line 236 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::inputNames, CB::ControlBasisPotentialFunction::inputPorts, CB::ControlBasisPotentialFunction::inputs, CB::ControlBasisPotentialFunction::inputsSet, CB::ControlBasisPotentialFunction::outputPort, CB::ControlBasisPotentialFunction::outputPortName, CB::ControlBasisPotentialFunction::pfName, CB::ControlBasisPotentialFunction::pfSpace, and CB::ControlBasisPotentialFunction::pfType.

        {
            // clear our residual names
            if(inputsSet) {
                inputNames.clear();
            }
            inputNames = inNames;

            // set up pf name: /cb/<space>/<pf_type>/<inputName[1]>/.../<inputName[N]>
            pfName = "/cb/" + pfSpace + "/" + pfType;
            std::string prefixStr = "/cb/" + pfSpace;
            std::string tmp;
            int s;
            for(int i=0; i<inputNames.size(); i++) {
                tmp = inputNames[i];
                s = prefixStr.size();           
                tmp.erase(0,s);
                pfName += tmp;
            }
            std::cout << "ControlBasisPotentialFunction::setInputs() name=" << pfName.c_str() << std::endl;
            
            // clear out any old input vectors or ports
            for(int i=0; i<inputPorts.size(); i++)
                delete inputPorts[i];
            inputPorts.clear();
            
            for(int i=0; i<inputs.size(); i++)
                delete inputs[i];
            inputs.clear();

            // create new input pointers
            for(int i=0; i<inputNames.size(); i++) {
                inputs.push_back(new yarp::sig::Vector(1));
                inputPorts.push_back(new yarp::os::BufferedPort<yarp::os::Bottle>());
            }                       

            // set flag
            inputsSet = true;

            // set outputs
            outputPortName = pfName + "data:o";            
            outputPort.close();
            outputPort.open(outputPortName.c_str());

        }

void CB::ControlBasisPotentialFunction::setUpdateDelay ( double  t  )  [inline, inherited]

Setter for updated delay.

Parameters:
delay (in seconds)

Definition at line 145 of file ControlBasisPotentialFunction.h.

References CB::ControlBasisPotentialFunction::updateDelay.

{ updateDelay = t; }

The documentation for this class was generated from the following files:
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Generated on Thu Jul 22 2010 22:30:44 for iCub by  doxygen 1.7.1