iCubPalmTouchSensor Class Reference

It returns 1 if the palm (right or left) touches the target object, 0 otherwise. More...

Inheritance diagram for iCubPalmTouchSensor:

List of all members.

Public Member Functions
	iCubPalmTouchSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubPalmTouchSensor ()
	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
QString	icubPalm
	From which palm the touch is detected (string: left or right)
QVector< WObject * > *	objects
	a pointer to read the objects within the world
WObject *	wPalm
	from which palm the touch is detected (world object)

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Detailed Description

It returns 1 if the palm (right or left) touches the target object, 0 otherwise.

Definition at line 259 of file icubsensors.h.

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Constructor & Destructor Documentation

iCubPalmTouchSensor	(	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 440 of file icubsensors.cpp.

References ConfigurationHelper::getString(), iCubPalmTouchSensor::icubPalm, iCubSensor::icubResource, iCubSensor::neuronsIteratorResource, iCubPalmTouchSensor::objects, ConcurrentResourcesUser::usableResources(), and iCubPalmTouchSensor::wPalm.

~iCubPalmTouchSensor

(

)

Destructor.

Definition at line 484 of file icubsensors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubArmJointsSensor.

Reimplemented from iCubSensor.

Definition at line 449 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 495 of file icubsensors.cpp.

References iCubPalmTouchSensor::icubPalm, iCubSensor::icubResource, Logger::info(), PhyiCub::leftArm(), Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubPalmTouchSensor::objects, PhyiCub::rightArm(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and iCubPalmTouchSensor::wPalm.

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 487 of file icubsensors.cpp.

References ConfigurationParameters::createParameter(), iCubPalmTouchSensor::icubPalm, 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 480 of file icubsensors.cpp.

Referenced by iCubPalmTouchSensor::update().

void update

(

)

[virtual]

Update the state of the Sensor every time step.

Implements Sensor.

Definition at line 455 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), World::checkContacts(), Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubPalmTouchSensor::objects, NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), iCubPalmTouchSensor::size(), and iCubPalmTouchSensor::wPalm.

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Member Data Documentation

QString icubPalm [protected]

From which palm the touch is detected (string: left or right)

Definition at line 287 of file icubsensors.h.

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

QVector<WObject*>* objects [protected]

a pointer to read the objects within the world

Definition at line 291 of file icubsensors.h.

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

WObject* wPalm [protected]

from which palm the touch is detected (world object)

Definition at line 289 of file icubsensors.h.

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

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

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