ctu.nengoros.comm.rosBackend.encoders.impl

Class BasicEncoder

java.lang.Object

ctu.nengoros.comm.rosBackend.encoders.impl.BasicEncoder

All Implemented Interfaces:

Resettable, Encoder

public class BasicEncoder
extends java.lang.Object
implements Encoder

Field Summary

Fields

Modifier and Type	Field and Description
protected int	dimensions
protected DynamicalSystem	dynamics
protected Integrator	integrator
static java.lang.String	me
protected MultiTermination	multiTermination
protected org.ros.node.ConnectedNode	myRosNode
protected java.lang.String	name
protected NeuralModule	parent
Backend	ros

Constructor Summary

Constructors

Constructor and Description
BasicEncoder(NeuralModule parent, DynamicalSystem dynamics, Integrator integrator, java.lang.String name, java.lang.String dataType, Units u, ModemContainer modem, Backend ros) Constructor of Basic Encoder which can hold one or more Terminations.
BasicEncoder(NeuralModule parent, int[] dimensionsizes, DynamicalSystem dynamics, Integrator integrator, java.lang.String name, java.lang.String dataType, Units u, ModemContainer modem, Backend ros) Constructor of Basic Encoder which can hold one or more Terminations.

Method Summary

Methods

Modifier and Type	Method and Description
int	getDimensions() Get dimensions of this encoder.
MultiTermination	getMultiTermination() Return own MultiTermination, this allows user to add new Terminations to it.
java.lang.String	getName() Return the name of Encoder, this name corresponds to ROS Topic on which the messages are published and is used to generate names for own Terminations.
NeuralModule	getParent() Get the parent of Encoder
void	reset(boolean randomize)
void	run(float startTime, float endTime) Run encoder for a given time, that is Combine values on all my Terminations Encode the result into the ROS message Publish the ROS message on a topic which corresponds to the name of Encoder Note that parent NeuralModule is responsible for running all Terminations before running Encoders, so that Terminations contain new values while calling this method.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

me

public static final java.lang.String me

See Also:

Constant Field Values

dimensions

protected int dimensions

dynamics

protected DynamicalSystem dynamics

integrator

protected Integrator integrator

parent

protected NeuralModule parent

name

protected java.lang.String name

myRosNode

protected org.ros.node.ConnectedNode myRosNode

multiTermination

protected MultiTermination multiTermination

ros

public Backend ros

Constructor Detail

BasicEncoder

public BasicEncoder(NeuralModule parent,
            DynamicalSystem dynamics,
            Integrator integrator,
            java.lang.String name,
            java.lang.String dataType,
            Units u,
            ModemContainer modem,
            Backend ros)
             throws StructuralException,
                    ConnectionException

Constructor of Basic Encoder which can hold one or more Terminations. Create MultiTermination, register one own Termination by default and wait for running.

Parameters:

parent - NeuralModule to which this belongs (will register Terminations to it)

dynamics - defines dynamics of all Terminations registered and used by me

integrator - defines dynamics of all my Terminations

name - name of this Encoder (also name of my ROS topic and base name for my Terminations)

dataType - type of data to decode

u - Nengo units used here

modem - my modem, should be already running

ros - ROS backend which defines how Nengo RealOutput is converted into ROS messages

Throws:

StructuralException - e.g. problem with registering the Termination

ConnectionException - ROS network problem

See Also:

ctu.nengoros.comm.rosBackend.backend.impl

BasicEncoder

public BasicEncoder(NeuralModule parent,
            int[] dimensionsizes,
            DynamicalSystem dynamics,
            Integrator integrator,
            java.lang.String name,
            java.lang.String dataType,
            Units u,
            ModemContainer modem,
            Backend ros)
             throws StructuralException,
                    ConnectionException

Constructor of Basic Encoder which can hold one or more Terminations. Create MultiTermination, register one own Termination by default and wait for running. Here, the sizes of particular dimensions are defined by integer array.

Parameters:

parent - NeuralModule to which this belongs (will register Terminations to it)

dimensionsizes - sizes of each dimension

dynamics - defines dynamics of all Terminations registered and used by me

integrator - defines dynamics of all my Terminations

name - name of this Encoder (also name of my ROS topic and base name for my Terminations)

dataType - type of data to decode

u - Nengo units used here

modem - my modem, should be already running

ros - ROS backend which defines how Nengo RealOutput is converted into ROS messages

Throws:

StructuralException - e.g. problem with registering the Termination

ConnectionException - ROS network problem

See Also:

ctu.nengoros.comm.rosBackend.backend.impl

Method Detail

run

public void run(float startTime,
       float endTime)
         throws SimulationException

Description copied from interface: Encoder

Run encoder for a given time, that is

• Combine values on all my Terminations
• Encode the result into the ROS message
• Publish the ROS message on a topic which corresponds to the name of Encoder

Note that parent NeuralModule is responsible for running all Terminations before running Encoders, so that Terminations contain new values while calling this method.

Specified by:

run in interface Encoder

Throws:

SimulationException

reset

public void reset(boolean randomize)

Specified by:

reset in interface Resettable

Parameters:

randomize - True indicates that the object should be reset to a randomly selected initial state (the object must be aware of the distribution from which to draw from). False indicates that the object should be reset to a fixed initial state (which it must also know). Some objects may not support randomization of the initial state, in which case a fixed state will be used in either case.

getParent

public NeuralModule getParent()

Description copied from interface: Encoder

Get the parent of Encoder

Specified by:

getParent in interface Encoder

Returns:

my parent to whom I register my Terminations

getName

public java.lang.String getName()

Description copied from interface: Encoder

Return the name of Encoder, this name corresponds to ROS Topic on which the messages are published and is used to generate names for own Terminations.

Specified by:

getName in interface Encoder

Returns:

returns the name of Encoder

getDimensions

public int getDimensions()

Description copied from interface: Encoder

Get dimensions of this encoder.

Specified by:

getDimensions in interface Encoder

Returns:

number of dimensions of my encoded input

getMultiTermination

public MultiTermination getMultiTermination()
                                     throws StructuralException

Description copied from interface: Encoder

Return own MultiTermination, this allows user to add new Terminations to it.

Specified by:

getMultiTermination in interface Encoder

Returns:

MultiTermination if found

Throws:

StructuralException