ObjectPositionSensor Class Reference

It gets the three absolute coordinate (world frame) of an object. More...

Inheritance diagram for ObjectPositionSensor:

List of all members.

Public Member Functions
	ObjectPositionSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~ObjectPositionSensor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the ObjectPositionSensor into the ConfigurationParameters.
int	size ()
	Return the number of neurons on which the Sensor will set the input: 3.
void	update ()
	Update the state of the Sensor every time step.
Static Public Member Functions
static void	describe (QString type)
	Describe all the parameter for configuring the iCubArmJointsSensor.
Protected Member Functions
void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.
Protected Attributes
wVector	bbMax
	maximum 3D point for linearization
wVector	bbMin
	minimum 3D point for linearization
bool	linearize
	if true will use bbMin and bbMax to linearize the position into [0,1]
QString	neuronsIteratorResource
	The name of th resource associated with the neural network iterator.
QString	objectName
	the object resource name

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Detailed Description

It gets the three absolute coordinate (world frame) of an object.

Definition at line 36 of file sensors.h.

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Constructor & Destructor Documentation

ObjectPositionSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor and Configure.

Parameters:

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

Definition at line 37 of file sensors.cpp.

References ObjectPositionSensor::bbMax, ObjectPositionSensor::bbMin, ConfigurationHelper::getString(), ConfigurationHelper::getVector(), ObjectPositionSensor::linearize, Sensor::name(), ObjectPositionSensor::neuronsIteratorResource, ObjectPositionSensor::objectName, ConcurrentResourcesUser::usableResources(), and Logger::warning().

~ObjectPositionSensor

(

)

Destructor.

Definition at line 58 of file sensors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubArmJointsSensor.

Reimplemented from Sensor.

Definition at line 62 of file sensors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::StringDescriptor::def(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::Descriptor::describeString(), ParameterSettable::RealDescriptor::help(), ParameterSettable::StringDescriptor::help(), ParameterSettable::IsList, ParameterSettable::IsMandatory, ParameterSettable::RealDescriptor::props(), and ParameterSettable::StringDescriptor::props().

void resourceChanged	(	QString	resourceName,
		ResourceChangeType	changeType
	)		[protected, virtual]

The function called when a resource used here is changed.

Parameters:

resourceName	the name of the resource that has changed.
chageType	the type of change the resource has gone through (whether it was created, modified or deleted)

Reimplemented from ConcurrentResourcesUser.

Definition at line 96 of file sensors.cpp.

References Logger::info(), Sensor::name(), ObjectPositionSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), ObjectPositionSensor::objectName, Sensor::resetNeededResourcesCheck(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setGraphicProperties().

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

Save the parameters of the ObjectPositionSensor into the ConfigurationParameters.

Parameters:

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

Reimplemented from Sensor.

Definition at line 115 of file sensors.cpp.

References ObjectPositionSensor::bbMax, ObjectPositionSensor::bbMin, ConfigurationParameters::createParameter(), ObjectPositionSensor::linearize, ObjectPositionSensor::neuronsIteratorResource, ObjectPositionSensor::objectName, and ConfigurationParameters::startObjectParameters().

int size

(

)

[virtual]

Return the number of neurons on which the Sensor will set the input: 3.

Implements Sensor.

Definition at line 92 of file sensors.cpp.

void update

(

)

[virtual]

Update the state of the Sensor every time step.

Implements Sensor.

Definition at line 71 of file sensors.cpp.

References ObjectPositionSensor::bbMax, ObjectPositionSensor::bbMin, Sensor::checkAllNeededResourcesExist(), ObjectPositionSensor::linearize, linearMap(), WObject::matrix(), Sensor::name(), ObjectPositionSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), ObjectPositionSensor::objectName, NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), and wMatrix::w_pos.

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Member Data Documentation

wVector bbMax [protected]

maximum 3D point for linearization

Definition at line 72 of file sensors.h.

Referenced by ObjectPositionSensor::ObjectPositionSensor(), ObjectPositionSensor::save(), and ObjectPositionSensor::update().

wVector bbMin [protected]

minimum 3D point for linearization

Definition at line 70 of file sensors.h.

Referenced by ObjectPositionSensor::ObjectPositionSensor(), ObjectPositionSensor::save(), and ObjectPositionSensor::update().

bool linearize [protected]

if true will use bbMin and bbMax to linearize the position into [0,1]

Definition at line 68 of file sensors.h.

Referenced by ObjectPositionSensor::ObjectPositionSensor(), ObjectPositionSensor::save(), and ObjectPositionSensor::update().

QString neuronsIteratorResource [protected]

The name of th resource associated with the neural network iterator.

Definition at line 64 of file sensors.h.

Referenced by ObjectPositionSensor::ObjectPositionSensor(), ObjectPositionSensor::resourceChanged(), ObjectPositionSensor::save(), and ObjectPositionSensor::update().

QString objectName [protected]

the object resource name

Definition at line 66 of file sensors.h.

Referenced by ObjectPositionSensor::ObjectPositionSensor(), ObjectPositionSensor::resourceChanged(), ObjectPositionSensor::save(), and ObjectPositionSensor::update().

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

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