iCubHandJointsSensor Class Reference

Hand prorpioceptive sensors: 9 dofs. More...

Inheritance diagram for iCubHandJointsSensor:

List of all members.

Public Member Functions
	iCubHandJointsSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubHandJointsSensor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubHandJointsSensor 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 iCubHandJointsSensor.
Protected Member Functions
void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.
Protected Attributes
QString	icubHand
	from which arm the joint's angles are read
MultiMotorController *	icubMotors
	the motor controller of the icub arm

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Detailed Description

Hand prorpioceptive sensors: 9 dofs.

Definition at line 501 of file icubsensors.h.

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Constructor & Destructor Documentation

iCubHandJointsSensor	(	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 833 of file icubsensors.cpp.

References ConfigurationHelper::getString(), iCubHandJointsSensor::icubHand, iCubSensor::icubResource, iCubSensor::neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().

~iCubHandJointsSensor

(

)

Destructor.

Definition at line 841 of file icubsensors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubHandJointsSensor.

Reimplemented from iCubSensor.

Definition at line 851 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 886 of file icubsensors.cpp.

References iCubHandJointsSensor::icubHand, iCubHandJointsSensor::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 iCubHandJointsSensor 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 845 of file icubsensors.cpp.

References ConfigurationParameters::createParameter(), iCubHandJointsSensor::icubHand, 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 882 of file icubsensors.cpp.

void update

(

)

[virtual]

Update the state of the Sensor every time step.

Implements Sensor.

Definition at line 857 of file icubsensors.cpp.

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

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Member Data Documentation

QString icubHand [protected]

from which arm the joint's angles are read

Definition at line 529 of file icubsensors.h.

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

MultiMotorController* icubMotors [protected]

the motor controller of the icub arm

Definition at line 531 of file icubsensors.h.

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

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

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