HandObjectVisualOffsetSensor Class Reference

A sensor returning the visual distance between the hand and the object. More...

Inheritance diagram for HandObjectVisualOffsetSensor:

List of all members.

Public Member Functions
	HandObjectVisualOffsetSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
	~HandObjectVisualOffsetSensor ()
	Destructor.
virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves current parameters into the given ConfigurationParameters object.
virtual int	size ()
	Returns the number of neurons required by this sensor.
virtual void	update ()
	Performs the sensor update. This also modifies the activation of input neurons.
Static Public Member Functions
static void	describe (QString type)
	Generates a description of this class and its parameters.

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Detailed Description

A sensor returning the visual distance between the hand and the object.

This sensor computes the distance between the hand and the first object in the visual field of the robot. Returns the distances on the vertical and horizontal axes (needs two neurons). Each distance is normalized in the range [-1.0, 1.0].

In addition to all parameters defined by the parent class (Sensor), this class also defines the following parameters:

• icub: the name of the resource associated with the iCub robot to use
• hand: the hand whose distance from the object should be returned. Choose between "right" and "left"

The resources required by this Sensor are:

• evonetIterator: the object to iterate over neurons of the neural network
• world: the simulated physical world
• icub: the simulated physical iCub robot
• evorobotexperiment: the pointer to the current experiment, which must be a subclass of EvoRobotExperiment. This is needed to get the list of objects defined by the experiment

Definition at line 935 of file icubsensors.h.

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Constructor & Destructor Documentation

HandObjectVisualOffsetSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Creates and configures the sensor

Parameters:

params	the ConfigurationParameters containing the parameters
prefix	the path prefix to the paramters for this Sensor

Definition at line 1779 of file icubsensors.cpp.

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

~HandObjectVisualOffsetSensor

(

)

Destructor.

Definition at line 1793 of file icubsensors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Generates a description of this class and its parameters.

Parameters:

type	the string representation of this class name

Reimplemented from iCubSensor.

Definition at line 1805 of file icubsensors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::EnumDescriptor::help(), ParameterSettable::IsMandatory, ParameterSettable::EnumDescriptor::props(), and ParameterSettable::EnumDescriptor::values().

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

Saves current parameters into the given ConfigurationParameters object.

Parameters:

params	the ConfigurationParameters object in which parameters should be saved
prefix	the name and path of the group where to save parametrs

Reimplemented from iCubSensor.

Definition at line 1797 of file icubsensors.cpp.

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

int size

(

)

[virtual]

Returns the number of neurons required by this sensor.

Returns:

the number of neurons required by this sensor

Implements Sensor.

Definition at line 1855 of file icubsensors.cpp.

void update

(

)

[virtual]

Performs the sensor update. This also modifies the activation of input neurons.

Implements Sensor.

Definition at line 1812 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), Projector::getImagePoint01(), ImagePoint::isValid(), WObject::matrix(), Sensor::name(), iCubSensor::neuronsIteratorResource, EvonetIterator::nextNeuron(), Projector::set3DPointWorld(), EvonetIterator::setCurrentBlock(), Projector::setEyeMatrix(), EvonetIterator::setInput(), wMatrix::w_pos, ImagePoint::x, and ImagePoint::y.

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

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