iCubTorsoJointsSensor Class Reference

Torso sensors 2 dofs: rotation and flexion. More...

Inheritance diagram for iCubTorsoJointsSensor:

List of all members.

Public Member Functions
	iCubTorsoJointsSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubTorsoJointsSensor ()
	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
MultiMotorController *	icubMotors
	the motor controller of torso

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Detailed Description

Torso sensors 2 dofs: rotation and flexion.

Definition at line 431 of file icubsensors.h.

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Constructor & Destructor Documentation

iCubTorsoJointsSensor	(	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 680 of file icubsensors.cpp.

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

~iCubTorsoJointsSensor

(

)

Destructor.

Definition at line 744 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 686 of file icubsensors.cpp.

References ParameterSettable::addTypeDescription().

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 721 of file icubsensors.cpp.

References iCubTorsoJointsSensor::icubMotors, iCubSensor::icubResource, Logger::info(), Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and PhyiCub::torsoController().

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 747 of file icubsensors.cpp.

References ConfigurationParameters::startObjectParameters().

int size

(

)

[virtual]

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

Implements Sensor.

Definition at line 717 of file icubsensors.cpp.

void update

(

)

[virtual]

Update the state of the Sensor every time step.

Implements Sensor.

Definition at line 692 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), iCubTorsoJointsSensor::icubMotors, Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setInput().

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Member Data Documentation

MultiMotorController* icubMotors [protected]

the motor controller of torso

Definition at line 459 of file icubsensors.h.

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

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

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