iCubMotor Class Reference

The base abstract class for iCub motors. More...

Inheritance diagram for iCubMotor:

List of all members.

Public Member Functions
	iCubMotor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~iCubMotor ()
	Destructor.
virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves the parameters of the motor into the ConfigurationParameters object.
Static Public Member Functions
static void	describe (QString type)
	Describes all the parameters for this motor.
Protected Member Functions
virtual void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.
Protected Attributes
QString	icubResource
	The name of the resource associated with the icub robot.
QString	neuronsIteratorResource
	The name of th resource associated with the neural network iterator.

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Detailed Description

The base abstract class for iCub motors.

This class simply has a couple of parameters that are common to all iCub motors (see below).

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 (default is "robot")
• neuronsIterator: the name of the resource associated with the neural network iterator (default is "neuronsIterator")

The resources required by this Motor are:

• name defined by the icub parameter: the simulated physical iCub robot
• name defined by the neuronsIterator parameter: the object to iterate over neurons of the neural network

Definition at line 61 of file icubmotors.h.

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Constructor & Destructor Documentation

iCubMotor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

This also reads configuration parameters. Moreover this adds the icub and neuronsIterator resources to the list of resources used here

Parameters:

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

Definition at line 36 of file icubmotors.cpp.

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

~iCubMotor

(

)

[virtual]

Destructor.

Definition at line 49 of file icubmotors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describes all the parameters for this motor.

Parameters:

type	the name with which this motor is registered into the factory

Reimplemented from Motor.

Reimplemented in iCubArmRandomMotor, iCubArmPosToPostureMotor, iCubTorsoPosToPostureMotor, iCubArmMusclesMotor, iCubHandMusclesMotor, iCubTorsoMusclesMotor, iCubHeadMusclesMotor, iCubArmPosToVelMotor, iCubTorsoPosToVelMotor, iCubHeadPosToVelMotor, iCubHandPosToVelMotor, iCubConfigurableHandPosToVelMotor, iCubHeadVelocityMotor, iCubArmVelocityMotor, and iCubTorsoVelocityMotor.

Definition at line 65 of file icubmotors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::StringDescriptor::def(), ParameterSettable::Descriptor::describeString(), and ParameterSettable::StringDescriptor::help().

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 ConcurrentResourcesUser.

Reimplemented in iCubArmRandomMotor, iCubArmPosToPostureMotor, iCubTorsoPosToPostureMotor, iCubArmMusclesMotor, iCubHandMusclesMotor, iCubTorsoMusclesMotor, iCubHeadMusclesMotor, iCubArmPosToVelMotor, iCubTorsoPosToVelMotor, iCubHeadPosToVelMotor, iCubHandPosToVelMotor, iCubArmVelocityMotor, and iCubTorsoVelocityMotor.

Definition at line 76 of file icubmotors.cpp.

References Motor::resetNeededResourcesCheck().

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

Saves the parameters of the motor into the ConfigurationParameters object.

Parameters:

params	the ConfigurationParameters where save the parameters of the motor
prefix	the path prefix for the parameters to save

Reimplemented from Motor.

Reimplemented in iCubArmRandomMotor, iCubArmPosToPostureMotor, iCubTorsoPosToPostureMotor, iCubArmMusclesMotor, iCubHandMusclesMotor, iCubTorsoMusclesMotor, iCubHeadMusclesMotor, iCubArmPosToVelMotor, iCubTorsoPosToVelMotor, iCubHeadPosToVelMotor, iCubHandPosToVelMotor, iCubConfigurableHandPosToVelMotor, iCubHeadVelocityMotor, iCubArmVelocityMotor, and iCubTorsoVelocityMotor.

Definition at line 54 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), iCubMotor::icubResource, iCubMotor::neuronsIteratorResource, and ConfigurationParameters::startObjectParameters().

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Member Data Documentation

QString icubResource [protected]

The name of the resource associated with the icub robot.

Definition at line 112 of file icubmotors.h.

Referenced by iCubArmMusclesMotor::iCubArmMusclesMotor(), iCubArmPosToPostureMotor::iCubArmPosToPostureMotor(), iCubArmPosToVelMotor::iCubArmPosToVelMotor(), iCubArmRandomMotor::iCubArmRandomMotor(), iCubArmVelocityMotor::iCubArmVelocityMotor(), iCubConfigurableHandPosToVelMotor::iCubConfigurableHandPosToVelMotor(), iCubHandMusclesMotor::iCubHandMusclesMotor(), iCubHandPosToVelMotor::iCubHandPosToVelMotor(), iCubHeadMusclesMotor::iCubHeadMusclesMotor(), iCubHeadPosToVelMotor::iCubHeadPosToVelMotor(), iCubHeadVelocityMotor::iCubHeadVelocityMotor(), iCubMotor::iCubMotor(), iCubTorsoMusclesMotor::iCubTorsoMusclesMotor(), iCubTorsoPosToPostureMotor::iCubTorsoPosToPostureMotor(), iCubTorsoPosToVelMotor::iCubTorsoPosToVelMotor(), iCubTorsoVelocityMotor::iCubTorsoVelocityMotor(), iCubTorsoVelocityMotor::resourceChanged(), iCubArmVelocityMotor::resourceChanged(), iCubHandPosToVelMotor::resourceChanged(), iCubHeadPosToVelMotor::resourceChanged(), iCubTorsoPosToVelMotor::resourceChanged(), iCubArmPosToVelMotor::resourceChanged(), iCubHeadMusclesMotor::resourceChanged(), iCubTorsoMusclesMotor::resourceChanged(), iCubHandMusclesMotor::resourceChanged(), iCubArmMusclesMotor::resourceChanged(), iCubTorsoPosToPostureMotor::resourceChanged(), iCubArmPosToPostureMotor::resourceChanged(), iCubArmRandomMotor::resourceChanged(), and iCubMotor::save().

QString neuronsIteratorResource [protected]

The name of th resource associated with the neural network iterator.

Definition at line 118 of file icubmotors.h.

Referenced by iCubArmMusclesMotor::iCubArmMusclesMotor(), iCubArmPosToPostureMotor::iCubArmPosToPostureMotor(), iCubArmPosToVelMotor::iCubArmPosToVelMotor(), iCubArmRandomMotor::iCubArmRandomMotor(), iCubArmVelocityMotor::iCubArmVelocityMotor(), iCubConfigurableHandPosToVelMotor::iCubConfigurableHandPosToVelMotor(), iCubHandMusclesMotor::iCubHandMusclesMotor(), iCubHandPosToVelMotor::iCubHandPosToVelMotor(), iCubHeadMusclesMotor::iCubHeadMusclesMotor(), iCubHeadPosToVelMotor::iCubHeadPosToVelMotor(), iCubHeadVelocityMotor::iCubHeadVelocityMotor(), iCubMotor::iCubMotor(), iCubTorsoMusclesMotor::iCubTorsoMusclesMotor(), iCubTorsoPosToPostureMotor::iCubTorsoPosToPostureMotor(), iCubTorsoPosToVelMotor::iCubTorsoPosToVelMotor(), iCubTorsoVelocityMotor::iCubTorsoVelocityMotor(), iCubTorsoVelocityMotor::resourceChanged(), iCubArmVelocityMotor::resourceChanged(), iCubHandPosToVelMotor::resourceChanged(), iCubHeadPosToVelMotor::resourceChanged(), iCubTorsoPosToVelMotor::resourceChanged(), iCubArmPosToVelMotor::resourceChanged(), iCubHeadMusclesMotor::resourceChanged(), iCubTorsoMusclesMotor::resourceChanged(), iCubHandMusclesMotor::resourceChanged(), iCubArmMusclesMotor::resourceChanged(), iCubTorsoPosToPostureMotor::resourceChanged(), iCubArmPosToPostureMotor::resourceChanged(), iCubArmRandomMotor::resourceChanged(), iCubMotor::save(), iCubTorsoVelocityMotor::update(), iCubArmVelocityMotor::update(), iCubConfigurableHandPosToVelMotor::update(), iCubHeadVelocityMotor::update(), iCubHandPosToVelMotor::update(), iCubHeadPosToVelMotor::update(), iCubTorsoPosToVelMotor::update(), iCubArmPosToVelMotor::update(), iCubHeadMusclesMotor::update(), iCubTorsoMusclesMotor::update(), iCubHandMusclesMotor::update(), iCubArmMusclesMotor::update(), iCubTorsoPosToPostureMotor::update(), 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