iCubHeadVelocityMotor Class Reference

A motor moving the head of the iCub at the given velocity. More...

Inheritance diagram for iCubHeadVelocityMotor:

List of all members.

Public Member Functions
	iCubHeadVelocityMotor (ConfigurationParameters &params, QString prefix)
	Constructor.
	~iCubHeadVelocityMotor ()
	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 motor.
virtual void	update ()
	Performs the motor update. This also reads the activation of output neurons.
Static Public Member Functions
static void	describe (QString type)
	Generates a description of this class and its parameters.

---

Detailed Description

A motor moving the head of the iCub at the given velocity.

The motor to move the head of the icub at the given velocity. This controls two degrees of freedom: pan (head joint 2) and tilt (head joint 0). We need two output neurons whose activation is in the range [0.0, 1.0]

In addition to all parameters defined by the parent class (Motor), this class also defines the following parameters:

• icub: the name of the resource associated with the iCub robot to use

The resources required by this Motor are:

• evonetIterator: the object to iterate over neurons of the neural network
• robot: the simulated physical iCub robot

Definition at line 716 of file icubmotors.h.

---

Constructor & Destructor Documentation

iCubHeadVelocityMotor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Creates and configures the motor

Parameters:

params	the ConfigurationParameters containing the parameters
prefix	the path prefix to the paramters for this Sensor

Definition at line 1106 of file icubmotors.cpp.

References iCubMotor::icubResource, iCubMotor::neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().

~iCubHeadVelocityMotor

(

)

Destructor.

Definition at line 1114 of file icubmotors.cpp.

---

Member Function Documentation

void describe

(

QString

type

)

[static]

Generates a description of this class and its parameters.

Parameters:

type	the string representation of this class name

Reimplemented from iCubMotor.

Definition at line 1124 of file icubmotors.cpp.

References ParameterSettable::addTypeDescription().

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

Saves current parameters into the given ConfigurationParameters object.

Parameters:

params	the ConfigurationParameters object in which parameters should be saved
prefix	the name and path of the group where to save parametrs

Reimplemented from iCubMotor.

Definition at line 1118 of file icubmotors.cpp.

References ConfigurationParameters::startObjectParameters().

int size

(

)

[virtual]

Returns the number of neurons required by this motor.

Returns:

the number of neurons required by this motor

Implements Motor.

Definition at line 1156 of file icubmotors.cpp.

void update

(

)

[virtual]

Performs the motor update. This also reads the activation of output neurons.

Implements Motor.

Definition at line 1130 of file icubmotors.cpp.

References Motor::checkAllNeededResourcesExist(), NeuronsIterator::getOutput(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), and MultiMotorController::velocityMove().

---

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

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