iCubArmPosToVelMotor Class Reference

It controls each arm joint (up to 7) in position by adjusting the joint's velocity with the proportional controller. More...

Inheritance diagram for iCubArmPosToVelMotor:

List of all members.

Public Member Functions
	iCubArmPosToVelMotor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubArmPosToVelMotor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubArmPosToVelMotor 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 iCubArmRandomMotor.
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
ProportionalController	pcontrol
	Proportional controller.

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Detailed Description

It controls each arm joint (up to 7) in position by adjusting the joint's velocity with the proportional controller.

Definition at line 415 of file icubmotors.h.

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Constructor & Destructor Documentation

iCubArmPosToVelMotor	(	farsa::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 771 of file icubmotors.cpp.

References ConfigurationHelper::getString(), iCubArmPosToVelMotor::icubArm, iCubMotor::icubResource, ParameterSettable::markParameterAsRuntime(), iCubMotor::neuronsIteratorResource, iCubArmPosToVelMotor::pcontrol, and ConcurrentResourcesUser::usableResources().

~iCubArmPosToVelMotor

(

)

Destructor.

Definition at line 781 of file icubmotors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubArmRandomMotor.

Reimplemented from iCubMotor.

Definition at line 791 of file icubmotors.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 iCubMotor.

Definition at line 824 of file icubmotors.cpp.

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

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

Save the parameters of the iCubArmPosToVelMotor 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 785 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), iCubArmPosToVelMotor::icubArm, 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 820 of file icubmotors.cpp.

void update

(

)

[virtual]

Update the state of the Motor every time step.

Implements Motor.

Definition at line 797 of file icubmotors.cpp.

References Motor::checkAllNeededResourcesExist(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), NeuronsIterator::getOutput(), iCubArmPosToVelMotor::icubMotors, linearMap(), max(), min(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubArmPosToVelMotor::pcontrol, NeuronsIterator::setCurrentBlock(), and MultiMotorController::velocityMove().

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Member Data Documentation

iCubRobot* icub [protected]

the icub to move

Definition at line 445 of file icubmotors.h.

Referenced by iCubArmPosToVelMotor::resourceChanged().

QString icubArm [protected]

from which arm the joint's angles are read

Definition at line 443 of file icubmotors.h.

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

MultiMotorController* icubMotors [protected]

the motor controller for reading limits

Definition at line 447 of file icubmotors.h.

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

ProportionalController pcontrol [protected]

Proportional controller.

Definition at line 449 of file icubmotors.h.

Referenced by iCubArmPosToVelMotor::iCubArmPosToVelMotor(), and iCubArmPosToVelMotor::update().

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

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