FixedRangeScaler.h

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/*
 * Copyright (C) 2007-2011 RobotCub Consortium, European Commission FP6 Project IST-004370
 * author:  Arjan Gijsberts
 * email:   arjan.gijsberts@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */
 
#ifndef LM_FIXEDRANGESCALER__
#define LM_FIXEDRANGESCALER__
 
#include "iCub/learningMachine/IScaler.h"
 
 
namespace iCub {
namespace learningmachine {
 
class FixedRangeScaler : public IScaler {
protected:
    double lowerBoundIn;
 
    double upperBoundIn;
 
    double lowerBoundOut;
 
    double upperBoundOut;
 
    void updateScales();
 
    /*
     * Inherited from IScaler
     */
    virtual void writeBottle(yarp::os::Bottle& bot);
 
    /*
     * Inherited from IScaler
     */
    virtual void readBottle(yarp::os::Bottle& bot);
 
public:
    FixedRangeScaler(double li = -1., double ui = 1., double lo = -1., double uo = 1.);
 
    /*
     * Inherited from IScaler
     */
    virtual std::string getInfo();
 
    /*
     * Inherited from IScaler.
     */
    virtual bool configure(yarp::os::Searchable& config);
 
    /*
     * Inherited from IScaler.
     */
    FixedRangeScaler* clone() {
        return new FixedRangeScaler(*this);
    }
 
    virtual double getLowerBoundOut() { return this->lowerBoundOut; }
 
    virtual void setLowerBoundOut(double lo) {
        this->lowerBoundOut = lo;
        this->updateScales();
    }
 
    virtual double getUpperBoundOut() { return this->upperBoundOut; }
 
    virtual void setUpperBoundOut(double uo) {
        this->upperBoundOut = uo;
        this->updateScales();
    }
 
    virtual double getLowerBoundIn() { return this->lowerBoundIn; }
 
    virtual void setLowerBoundIn(double li) {
        this->lowerBoundIn = li;
        this->updateScales();
    }
 
    virtual double getUpperBoundIn() { return this->upperBoundIn; }
 
    virtual void setUpperBoundIn(double ui) {
        this->upperBoundIn = ui;
        this->updateScales();
    }
 
};
 
} // learningmachine
} // iCub
 
#endif