LearnedSpeedControl Class Reference

#include <learned_controller.h>

Inheritance diagram for LearnedSpeedControl:

List of all members.

Public Member Functions
virtual void	adjust (float speed, float error, float *brake_req, float *throttle_req)
virtual void	configure (art_pilot::PilotConfig &newconfig)
int	getAction (const std::vector< float > &s)
	LearnedSpeedControl ()
virtual void	reset (void)
virtual	~LearnedSpeedControl ()
Private Types
typedef const std::vector < float > *	state_t
Private Member Functions
state_t	canonicalize (const std::vector< float > &s)
void	loadPolicy (const char *filename)
Private Attributes
bool	LOADDEBUG
bool	loaded
const int	numactions
std::map< state_t, std::vector < float > >	Q
std::vector< float >	s
std::set< std::vector< float > >	statespace

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Detailed Description

Acceleration matrix speed controller class

Definition at line 9 of file learned_controller.h.

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Member Typedef Documentation

typedef const std::vector<float>* LearnedSpeedControl::state_t [private]

The implementation maps all sensations to a set of canonical pointers, which serve as the internal representation of environment state.

Definition at line 28 of file learned_controller.h.

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Constructor & Destructor Documentation

LearnedSpeedControl::LearnedSpeedControl

(

)

Acceleration matrix speed control constructor.

Definition at line 8 of file learned_controller.cc.

LearnedSpeedControl::~LearnedSpeedControl

(

)

[virtual]

LearnedSpeedControl destructor

Definition at line 26 of file learned_controller.cc.

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Member Function Documentation

void LearnedSpeedControl::adjust	(	float	speed,
		float	error,
		float *	brake_req,
		float *	throttle_req
	)		[virtual]

Adjust speed to match goal.

Generate brake and throttle changes from velocity PID controller via an acceleration matrix.

Parameters:

speed	absolute value of current velocity in m/sec
error	immediate goal minus speed
brake_req	-> previous brake request (input), updated brake request (output).
throttle_req	-> previous throttle request (input), updated throttle request (output).

Implements SpeedControl.

Definition at line 45 of file learned_controller.cc.

LearnedSpeedControl::state_t LearnedSpeedControl::canonicalize

(

const std::vector< float > &

s

)

[private]

Produces a canonical representation of the given sensation.

Parameters:

s	The current sensation from the environment.

Returns:

A pointer to an equivalent state in statespace.

Definition at line 150 of file learned_controller.cc.

void LearnedSpeedControl::configure

(

art_pilot::PilotConfig &

newconfig

)

[virtual]

Configure controller parameters.

Implements SpeedControl.

Definition at line 123 of file learned_controller.cc.

int LearnedSpeedControl::getAction

(

const std::vector< float > &

s

)

Definition at line 136 of file learned_controller.cc.

void LearnedSpeedControl::loadPolicy

(

const char *

filename

)

[private]

Definition at line 165 of file learned_controller.cc.

void LearnedSpeedControl::reset

(

void

)

[virtual]

Reset speed controller.

Implements SpeedControl.

Definition at line 128 of file learned_controller.cc.

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Member Data Documentation

bool LearnedSpeedControl::LOADDEBUG [private]

Definition at line 50 of file learned_controller.h.

bool LearnedSpeedControl::loaded [private]

Definition at line 51 of file learned_controller.h.

const int LearnedSpeedControl::numactions [private]

Definition at line 48 of file learned_controller.h.

std::map<state_t, std::vector<float> > LearnedSpeedControl::Q [private]

The primary data structure of the learning algorithm, the value function Q. For state_t s and int a, Q[s][a] gives the learned maximum expected future discounted reward conditional on executing action a in state s.

Definition at line 44 of file learned_controller.h.

std::vector<float> LearnedSpeedControl::s [private]

Definition at line 23 of file learned_controller.h.

std::set<std::vector<float> > LearnedSpeedControl::statespace [private]

Set of all distinct sensations seen. Pointers to elements of this set serve as the internal representation of the environment state.

Definition at line 38 of file learned_controller.h.

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

• learned_controller.h
• learned_controller.cc