iCubSimulator Class Reference

a simple iCub simulator. More...

Inheritance diagram for iCubSimulator:

List of all members.

Public Slots
void	start ()
	Start the simulation of the iCub.
void	step ()
	Advance the simulation of one step only.
void	suspend ()
	Suspend the simulation of the iCub.
Public Member Functions
	iCubSimulator ()
	Constructor.
	~iCubSimulator ()
	Destructor.
virtual void	configure (farsa::ConfigurationParameters &params, QString prefix)
	Configure function.
farsa::PhyiCub *	getICub () const
	return the iCub
virtual ComponentUI *	getUIManager ()
	Return an instance of the iCubSimulatorViewer class that handle the viewers for the GUI.
farsa::World *	getWorld () const
	return the world
virtual void	postConfigureInitialization ()
	declare resources and initialize sensors
virtual void	save (farsa::ConfigurationParameters &params, QString prefix)
	Save function.
Static Public Member Functions
static void	describe (QString type)
	Description of all parameters.

---

Detailed Description

a simple iCub simulator.

It can be controlled by YARP ports, and hence it can be used with the modules on iCub repository

Definition at line 40 of file icubsimulator.h.

---

Constructor & Destructor Documentation

iCubSimulator

(

)

Constructor.

Definition at line 33 of file icubsimulator.cpp.

~iCubSimulator

(

)

Destructor.

Definition at line 40 of file icubsimulator.cpp.

---

Member Function Documentation

void configure	(	farsa::ConfigurationParameters &	params,
		QString	prefix
	)		[virtual]

Configure function.

Implements Component.

Definition at line 49 of file icubsimulator.cpp.

References ConfigurationHelper::getBool(), ConfigurationHelper::getDouble(), ConfigurationHelper::getString(), ConfigurationHelper::getVector(), wMatrix::identity(), World::isRealTime(), ParameterSettable::markParameterAsRuntime(), max(), min(), World::setIsRealTime(), World::setSize(), Component::setStatus(), World::setTimeStep(), World::timeStep(), and wMatrix::w_pos.

void describe

(

QString

type

)

[static]

Description of all parameters.

Reimplemented from ParameterSettable.

Definition at line 115 of file icubsimulator.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::AllowMultiple, ParameterSettable::BoolDescriptor::def(), ParameterSettable::RealDescriptor::def(), ParameterSettable::StringDescriptor::def(), ParameterSettable::SubgroupDescriptor::describeBool(), ParameterSettable::SubgroupDescriptor::describeEnum(), ParameterSettable::SubgroupDescriptor::describeReal(), ParameterSettable::SubgroupDescriptor::describeString(), ParameterSettable::Descriptor::describeSubgroup(), ParameterSettable::EnumDescriptor::help(), ParameterSettable::BoolDescriptor::help(), ParameterSettable::RealDescriptor::help(), ParameterSettable::StringDescriptor::help(), ParameterSettable::SubgroupDescriptor::help(), ParameterSettable::IsList, ParameterSettable::IsMandatory, ParameterSettable::RealDescriptor::limits(), ParameterSettable::EnumDescriptor::props(), ParameterSettable::RealDescriptor::props(), ParameterSettable::StringDescriptor::props(), ParameterSettable::SubgroupDescriptor::props(), and ParameterSettable::EnumDescriptor::values().

farsa::PhyiCub* getICub

(

)

const [inline]

return the iCub

Definition at line 62 of file icubsimulator.h.

Referenced by iCubSimulatorViewer::getViewers().

ComponentUI * getUIManager

(

)

[virtual]

Return an instance of the iCubSimulatorViewer class that handle the viewers for the GUI.

Implements Component.

Definition at line 45 of file icubsimulator.cpp.

farsa::World* getWorld

(

)

const [inline]

return the world

Definition at line 58 of file icubsimulator.h.

Referenced by iCubSimulatorViewer::getViewers().

void postConfigureInitialization

(

)

[virtual]

declare resources and initialize sensors

Reimplemented from ParameterSettable.

Definition at line 112 of file icubsimulator.cpp.

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

Save function.

Implements Component.

Definition at line 95 of file icubsimulator.cpp.

References ConfigurationParameters::createParameter(), ConfigurationParameters::createSubGroup(), World::isRealTime(), WObject::matrix(), max(), min(), WObject::name(), World::name(), World::size(), World::timeStep(), and wMatrix::w_pos.

void start

(

)

[slot]

Start the simulation of the iCub.

Definition at line 132 of file icubsimulator.cpp.

References Component::setStatus().

void step

(

)

[slot]

Advance the simulation of one step only.

Definition at line 140 of file icubsimulator.cpp.

References Component::setStatus().

void suspend

(

)

[slot]

Suspend the simulation of the iCub.

Definition at line 136 of file icubsimulator.cpp.

References Component::setStatus().

---

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

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