iCubArmJointsSensor Class Reference

The sensor reading arm joints. More...

Inheritance diagram for iCubArmJointsSensor:

List of all members.

Public Member Functions
	iCubArmJointsSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubArmJointsSensor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubArmJointsSensor into the ConfigurationParameters.
int	size ()
	Return the number of neurons on which the Sensor will set the input: 7.
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
QString	icubArm
	from which arm the joint's angles are read
MultiMotorController *	icubMotors
	the motor controller of the icub arm

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Detailed Description

The sensor reading arm joints.

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Definition at line 125 of file icubsensors.h.

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Constructor & Destructor Documentation

iCubArmJointsSensor	(	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 88 of file icubsensors.cpp.

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

~iCubArmJointsSensor

(

)

Destructor.

Definition at line 96 of file icubsensors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubArmJointsSensor.

Reimplemented from iCubSensor.

Definition at line 106 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 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 iCubSensor.

Definition at line 141 of file icubsensors.cpp.

References iCubArmJointsSensor::icubArm, iCubArmJointsSensor::icubMotors, iCubSensor::icubResource, Logger::info(), PhyiCub::leftArmController(), Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), PhyiCub::rightArmController(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setGraphicProperties().

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

Save the parameters of the iCubArmJointsSensor 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 100 of file icubsensors.cpp.

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

int size

(

)

[virtual]

Return the number of neurons on which the Sensor will set the input: 7.

Implements Sensor.

Definition at line 137 of file icubsensors.cpp.

void update

(

)

[virtual]

Update the state of the Sensor every time step.

Implements Sensor.

Definition at line 112 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), iCubArmJointsSensor::icubMotors, linearMap(), max(), min(), Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setInput().

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Member Data Documentation

QString icubArm [protected]

from which arm the joint's angles are read

Definition at line 153 of file icubsensors.h.

Referenced by iCubArmJointsSensor::iCubArmJointsSensor(), iCubArmJointsSensor::resourceChanged(), and iCubArmJointsSensor::save().

MultiMotorController* icubMotors [protected]

the motor controller of the icub arm

Definition at line 155 of file icubsensors.h.

Referenced by iCubArmJointsSensor::resourceChanged(), and iCubArmJointsSensor::update().

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

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