Experiments - 0.6.0

Utilities Configuration GA
NNFW WorldSim Total 99% Experiments

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iCubPalmTargetDistSensor

It gets 3 distances (x,y,z) between the palm and the target object. More...

Inheritance diagram for iCubPalmTargetDistSensor:

Inheritance graph

List of all members.

Public Member Functions
	iCubPalmTargetDistSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubPalmTargetDistSensor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubArmJointsSensor 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 iCubArmJointsSensor.
Protected Member Functions
void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.
Protected Attributes
bool	addPalmOffset
	if the palm offset is setted or not
wVector	bbMax
	maximum 3D point for linearization
wVector	bbMin
	minimum 3D point for linearization
QString	icubPalm
	from which arm the joint's angles are read
bool	isLeft
	left or right palm
bool	linearize
	if true will use bbMin and bbMax to linearize the position into [0,1]
wVector	palmOffset
	the offset to add to the palm
QString	targetName
	the target name

Detailed Description

It gets 3 distances (x,y,z) between the palm and the target object.

Definition at line 210 of file icubsensors.h.

Constructor & Destructor Documentation

iCubPalmTargetDistSensor	(	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 305 of file icubsensors.cpp.

References iCubPalmTargetDistSensor::addPalmOffset, iCubPalmTargetDistSensor::bbMax, iCubPalmTargetDistSensor::bbMin, ConfigurationHelper::getString(), ConfigurationHelper::getVector(), iCubPalmTargetDistSensor::icubPalm, iCubSensor::icubResource, iCubPalmTargetDistSensor::linearize, Sensor::name(), iCubSensor::neuronsIteratorResource, iCubPalmTargetDistSensor::palmOffset, iCubPalmTargetDistSensor::targetName, ConcurrentResourcesUser::usableResources(), and Logger::warning().

~iCubPalmTargetDistSensor ( )

Destructor.

Definition at line 337 of file icubsensors.cpp.

Member Function Documentation

void describe ( QString type ) [static]

Describe all the parameter for configuring the iCubArmJointsSensor.

Reimplemented from iCubSensor.

Definition at line 353 of file icubsensors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::StringDescriptor::def(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::Descriptor::describeString(), ParameterSettable::RealDescriptor::help(), ParameterSettable::StringDescriptor::help(), ParameterSettable::EnumDescriptor::help(), ParameterSettable::IsList, ParameterSettable::IsMandatory, ParameterSettable::RealDescriptor::props(), 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 406 of file icubsensors.cpp.

References iCubPalmTargetDistSensor::icubPalm, iCubSensor::icubResource, Logger::info(), iCubPalmTargetDistSensor::isLeft, Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and iCubPalmTargetDistSensor::targetName.

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

Save the parameters of the iCubArmJointsSensor 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 341 of file icubsensors.cpp.

References iCubPalmTargetDistSensor::bbMax, iCubPalmTargetDistSensor::bbMin, ConfigurationParameters::createParameter(), iCubPalmTargetDistSensor::icubPalm, iCubPalmTargetDistSensor::linearize, ConfigurationParameters::startObjectParameters(), and iCubPalmTargetDistSensor::targetName.

int size ( ) [virtual]

Return the number of neurons on which the Sensor will set the input: 7.

Implements Sensor.

Definition at line 402 of file icubsensors.cpp.

void update ( ) [virtual]

Member Data Documentation

bool addPalmOffset [protected]

if the palm offset is setted or not

Definition at line 252 of file icubsensors.h.

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

wVector bbMax [protected]

maximum 3D point for linearization

Definition at line 248 of file icubsensors.h.

Referenced by iCubPalmTargetDistSensor::iCubPalmTargetDistSensor(), iCubPalmTargetDistSensor::save(), and iCubPalmTargetDistSensor::update().

wVector bbMin [protected]

minimum 3D point for linearization

Definition at line 246 of file icubsensors.h.

Referenced by iCubPalmTargetDistSensor::iCubPalmTargetDistSensor(), iCubPalmTargetDistSensor::save(), and iCubPalmTargetDistSensor::update().

QString icubPalm [protected]

from which arm the joint's angles are read

Definition at line 238 of file icubsensors.h.

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

bool isLeft [protected]

left or right palm

Definition at line 242 of file icubsensors.h.

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

bool linearize [protected]

if true will use bbMin and bbMax to linearize the position into [0,1]

Definition at line 244 of file icubsensors.h.

Referenced by iCubPalmTargetDistSensor::iCubPalmTargetDistSensor(), iCubPalmTargetDistSensor::save(), and iCubPalmTargetDistSensor::update().

wVector palmOffset [protected]

the offset to add to the palm

Definition at line 250 of file icubsensors.h.

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

QString targetName [protected]

the target name

Definition at line 240 of file icubsensors.h.

Referenced by iCubPalmTargetDistSensor::iCubPalmTargetDistSensor(), iCubPalmTargetDistSensor::resourceChanged(), iCubPalmTargetDistSensor::save(), and iCubPalmTargetDistSensor::update().

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

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