iCubArmPosToPostureMotor Class Reference

This Motor move the arm in the position using the iCubRobot::configurePosture method. More...

Inheritance diagram for iCubArmPosToPostureMotor:

List of all members.

Public Member Functions
	iCubArmPosToPostureMotor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubArmPosToPostureMotor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubArmPosToPostureMotor into the ConfigurationParameters.
int	size ()
	Return the number of neurons from which the Motor will get the output: 7.
void	update ()
	Update the state of the Motor every time step.
Static Public Member Functions
static void	describe (QString type)
	Describe all the parameter for configuring the iCubArmPosToPostureMotor.
Protected Member Functions
void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.
Protected Attributes
iCubRobot *	icub
	the icub to move
QString	icubArm
	from which arm the joint's angles are read
MultiMotorController *	icubMotors
	the motor controller for reading limits
bool	is7Dof
	true move all 7 Dof of the arm, false move only the first 4 Dof
int	startJointId
	the start index for configure posture

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Detailed Description

This Motor move the arm in the position using the iCubRobot::configurePosture method.

Warning:

the movement of this motor is instantaneuos, it only require one step. And hence, any physics is ignored. Use this motor only in kinematic mode of the iCub.

Definition at line 170 of file icubmotors.h.

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Constructor & Destructor Documentation

iCubArmPosToPostureMotor	(	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 Motor

Definition at line 183 of file icubmotors.cpp.

References ConfigurationHelper::getBool(), ConfigurationHelper::getString(), iCubArmPosToPostureMotor::icubArm, iCubMotor::icubResource, iCubArmPosToPostureMotor::is7Dof, iCubMotor::neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().

~iCubArmPosToPostureMotor

(

)

Destructor.

Definition at line 193 of file icubmotors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubArmPosToPostureMotor.

Reimplemented from iCubMotor.

Definition at line 204 of file icubmotors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::BoolDescriptor::help(), 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 iCubMotor.

Definition at line 236 of file icubmotors.cpp.

References iCubArmPosToPostureMotor::icub, iCubArmPosToPostureMotor::icubArm, iCubArmPosToPostureMotor::icubMotors, iCubMotor::icubResource, Logger::info(), iCubArmPosToPostureMotor::is7Dof, PhyiCub::leftArmController(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), PhyiCub::rightArmController(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and iCubArmPosToPostureMotor::startJointId.

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

Save the parameters of the iCubArmPosToPostureMotor into the ConfigurationParameters.

Parameters:

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

Reimplemented from iCubMotor.

Definition at line 197 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), iCubArmPosToPostureMotor::icubArm, iCubArmPosToPostureMotor::is7Dof, and ConfigurationParameters::startObjectParameters().

int size

(

)

[virtual]

Return the number of neurons from which the Motor will get the output: 7.

Implements Motor.

Definition at line 232 of file icubmotors.cpp.

References iCubArmPosToPostureMotor::is7Dof.

void update

(

)

[virtual]

Update the state of the Motor every time step.

Implements Motor.

Definition at line 211 of file icubmotors.cpp.

References Motor::checkAllNeededResourcesExist(), PhyiCub::configurePosture(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), NeuronsIterator::getOutput(), iCubArmPosToPostureMotor::icub, iCubArmPosToPostureMotor::icubMotors, iCubArmPosToPostureMotor::is7Dof, linearMap(), max(), min(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), and iCubArmPosToPostureMotor::startJointId.

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Member Data Documentation

iCubRobot* icub [protected]

the icub to move

Definition at line 200 of file icubmotors.h.

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

QString icubArm [protected]

from which arm the joint's angles are read

Definition at line 198 of file icubmotors.h.

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

MultiMotorController* icubMotors [protected]

the motor controller for reading limits

Definition at line 202 of file icubmotors.h.

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

bool is7Dof [protected]

true move all 7 Dof of the arm, false move only the first 4 Dof

Definition at line 206 of file icubmotors.h.

Referenced by iCubArmPosToPostureMotor::iCubArmPosToPostureMotor(), iCubArmPosToPostureMotor::resourceChanged(), iCubArmPosToPostureMotor::save(), iCubArmPosToPostureMotor::size(), and iCubArmPosToPostureMotor::update().

int startJointId [protected]

the start index for configure posture

Definition at line 204 of file icubmotors.h.

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

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

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