Experiments - 0.6.0

Utilities Configuration GA
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Public Member Functions | Static Public Member Functions

iCubFingertipsTouchSensor Class Reference

A sensor registering contacts with the iCub fingertips. More...

Inheritance diagram for iCubFingertipsTouchSensor:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 iCubFingertipsTouchSensor (ConfigurationParameters &params, QString prefix)
 Constructor.
 ~iCubFingertipsTouchSensor ()
 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.

Detailed Description

A sensor registering contacts with the iCub fingertips.

The touch sensor of the iCub fingertips (this doesn't check contacts with palm). There are five sensors, one for each figertip. This sensor works both when the iCub is dynamic and when it is kinematic, as it uses Wolrd::smartCheckContacts. The neuron corresponding to each touch sensor is set to either 0 or 1 depending on whether the sensor is active (i.e. is in touch with something) or not. When the iCub is dynamic, it is also possible to specify whether contacts with all objects in the world should be registered or only with objects defined by the experiment using the "checkAllObjects" parameter. When the iCub is kinematic only collisions with objects defined by the experiment are checked. Check the "Fingertip Touch Sensor.png" image for information on the location of the touch sensor on the fingertip.

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 to use. Choose between "right" and "left"
  • checkAllObjects: a boolean value specifying wheter to check collisions with all objects or not (see the class description for more information)
  • alpha: the aperture of the touch sensor in degrees (see the image)
  • h: the height of the touch sensor (see the image)
  • drawSensor: if true the location of the touch sensor is drawn

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 574 of file icubsensors.h.

Constructor & Destructor Documentation

iCubFingertipsTouchSensor ( ConfigurationParameters &  params,
QString  prefix 
)

Constructor.

Creates and configures the sensor

Parameters:
paramsthe ConfigurationParameters containing the parameters
prefixthe path prefix to the paramters for this Sensor

Definition at line 1333 of file icubsensors.cpp.

References ConfigurationHelper::getBool(), ConfigurationHelper::getDouble(), ConfigurationHelper::getString(), iCubSensor::icubResource, iCubSensor::neuronsIteratorResource, ConfigurationHelper::throwUserConfigError(), toDegree(), toRad(), and ConcurrentResourcesUser::usableResources().

~iCubFingertipsTouchSensor ( )

Destructor.

Definition at line 1364 of file icubsensors.cpp.

Member Function Documentation

void describe ( QString  type) [static]

Generates a description of this class and its parameters.

Parameters:
typethe string representation of this class name

Reimplemented from iCubSensor.

Definition at line 1380 of file icubsensors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::RealDescriptor::def(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::RealDescriptor::help(), ParameterSettable::BoolDescriptor::help(), 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:
paramsthe ConfigurationParameters object in which parameters should be saved
prefixthe name and path of the group where to save parametrs

Reimplemented from iCubSensor.

Definition at line 1369 of file icubsensors.cpp.

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

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 1417 of file icubsensors.cpp.

void update ( ) [virtual]

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

Implements Sensor.

Definition at line 1391 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), Sensor::name(), iCubSensor::neuronsIteratorResource, EvonetIterator::nextNeuron(), EvonetIterator::setCurrentBlock(), and EvonetIterator::setInput().

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