ColorCameraSensor Class Reference

Camera sensors: two sensors (vertical and horizontal). Each sensor returns 0 when the target object is centered. Vertical and horizontal sensors. When a target object is seen sensors return a range of value from -1 to 1 where 0 menas that the target object has been focused. More...

Inheritance diagram for ColorCameraSensor:

List of all members.

Public Member Functions
	ColorCameraSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the ColorCameraSensor into the ConfigurationParameters.
int	size ()
	Return the number of neurons on which the Sensor will set the input: 2*nObjects.
void	update ()
	update the state of the sensory neurons every time step
Static Public Member Functions
static void	describe (QString type)
	Describe all the parameter for configuring the ColorCameraSensor.
Public Attributes
QMap< WObject *, ImagePoint >	m_objectsRetinaPosition
	The map associating to each object its position on the retina.

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Detailed Description

Camera sensors: two sensors (vertical and horizontal). Each sensor returns 0 when the target object is centered. Vertical and horizontal sensors. When a target object is seen sensors return a range of value from -1 to 1 where 0 menas that the target object has been focused.

Definition at line 163 of file icubsensors.h.

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Constructor & Destructor Documentation

ColorCameraSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Definition at line 173 of file icubsensors.cpp.

References ConfigurationHelper::getInt(), iCubSensor::icubResource, iCubSensor::neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the ColorCameraSensor.

Reimplemented from iCubSensor.

Definition at line 188 of file icubsensors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::IntDescriptor::def(), ParameterSettable::Descriptor::describeInt(), and ParameterSettable::IntDescriptor::help().

void save	(	ConfigurationParameters &	params,
		QString	prefix
	)		[virtual]

Save the parameters of the ColorCameraSensor into the ConfigurationParameters.

Parameters:

params	is the ConfigurationParameters where save the parameters
prefix	is the path prefix for the parameters to save

Reimplemented from iCubSensor.

Definition at line 182 of file icubsensors.cpp.

References ConfigurationParameters::createParameter(), and ConfigurationParameters::startObjectParameters().

int size

(

)

[virtual]

Return the number of neurons on which the Sensor will set the input: 2*nObjects.

Implements Sensor.

Definition at line 255 of file icubsensors.cpp.

void update

(

)

[virtual]

update the state of the sensory neurons every time step

Implements Sensor.

Definition at line 195 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), Projector::getImagePoint01(), PhyiCub::headNeck(), iCubSensor::icubResource, ColorCameraSensor::m_objectsRetinaPosition, Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), Projector::pointInsideImage(), Projector::set3DPointWorld(), NeuronsIterator::setCurrentBlock(), Projector::setEyeMatrix(), NeuronsIterator::setInput(), ImagePoint::x, and ImagePoint::y.

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Member Data Documentation

QMap<WObject*, ImagePoint> m_objectsRetinaPosition

The map associating to each object its position on the retina.

Each point is normalized (i.e. is in [0, 1]x[0, 1])

Definition at line 183 of file icubsensors.h.

Referenced by ColorCameraSensor::update().

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

• experiments/include/icubsensors.h
• experiments/src/icubsensors.cpp