iCubTorsoPosToPostureMotor Class Reference

This Motor move the torso in the position using the iCubRobot::configurePosture method. More...

Inheritance diagram for iCubTorsoPosToPostureMotor:

List of all members.

Public Member Functions
	iCubTorsoPosToPostureMotor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubTorsoPosToPostureMotor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubTorsoPosToPostureMotor into the ConfigurationParameters.
int	size ()
	Return the number of neurons from which the Motor will get the output: 7.
void	update ()
	Update the state of the Motor every time step.
Static Public Member Functions
static void	describe (QString type)
	Describe all the parameter for configuring the iCubArmPosToPostureMotor.
Protected Member Functions
void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.
Protected Attributes
iCubRobot *	icub
	the icub to move
MultiMotorController *	icubMotors
	the motor controller for reading limits
bool	torsoDofs [3]
	the indication of which Dofs are enabled to move

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Detailed Description

This Motor move the torso in the position using the iCubRobot::configurePosture method.

Warning:

the movement of this motor is instantaneuos, it only require one step. And hence, any physics is ignored. Use this motor only in kinematic mode of the iCub.

Definition at line 216 of file icubmotors.h.

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Constructor & Destructor Documentation

iCubTorsoPosToPostureMotor	(	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 Motor

Definition at line 263 of file icubmotors.cpp.

References ConfigurationHelper::getBool(), iCubMotor::icubResource, iCubMotor::neuronsIteratorResource, iCubTorsoPosToPostureMotor::torsoDofs, and ConcurrentResourcesUser::usableResources().

~iCubTorsoPosToPostureMotor

(

)

Destructor.

Definition at line 274 of file icubmotors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubArmPosToPostureMotor.

Reimplemented from iCubMotor.

Definition at line 292 of file icubmotors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::Descriptor::describeBool(), and ParameterSettable::BoolDescriptor::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 iCubMotor.

Definition at line 330 of file icubmotors.cpp.

References iCubTorsoPosToPostureMotor::icub, iCubTorsoPosToPostureMotor::icubMotors, iCubMotor::icubResource, Logger::info(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), PhyiCub::torsoController(), and iCubTorsoPosToPostureMotor::torsoDofs.

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

Save the parameters of the iCubTorsoPosToPostureMotor into the ConfigurationParameters.

Parameters:

params	is the ConfigurationParameters where save the parameters
prefix	is the path prefix for the parameters to save

Reimplemented from iCubMotor.

Definition at line 278 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), ConfigurationParameters::startObjectParameters(), and iCubTorsoPosToPostureMotor::torsoDofs.

int size

(

)

[virtual]

Return the number of neurons from which the Motor will get the output: 7.

Implements Motor.

Definition at line 326 of file icubmotors.cpp.

References iCubTorsoPosToPostureMotor::torsoDofs.

void update

(

)

[virtual]

Update the state of the Motor every time step.

Implements Motor.

Definition at line 300 of file icubmotors.cpp.

References Motor::checkAllNeededResourcesExist(), PhyiCub::configurePosture(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), NeuronsIterator::getOutput(), iCubTorsoPosToPostureMotor::icub, iCubTorsoPosToPostureMotor::icubMotors, linearMap(), max(), min(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), and iCubTorsoPosToPostureMotor::torsoDofs.

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Member Data Documentation

iCubRobot* icub [protected]

the icub to move

Definition at line 244 of file icubmotors.h.

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

MultiMotorController* icubMotors [protected]

the motor controller for reading limits

Definition at line 246 of file icubmotors.h.

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

bool torsoDofs[3] [protected]

the indication of which Dofs are enabled to move

Definition at line 248 of file icubmotors.h.

Referenced by iCubTorsoPosToPostureMotor::iCubTorsoPosToPostureMotor(), iCubTorsoPosToPostureMotor::resourceChanged(), iCubTorsoPosToPostureMotor::save(), iCubTorsoPosToPostureMotor::size(), and iCubTorsoPosToPostureMotor::update().

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

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