iCubTorsoVelocityMotor Class Reference

This Motor move the torso by velocity. More...

Inheritance diagram for iCubTorsoVelocityMotor:

List of all members.

Public Member Functions
	iCubTorsoVelocityMotor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~iCubTorsoVelocityMotor ()
	Destructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubTorsoVelocityMotor 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 iCubTorsoVelocityMotor.
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
double	maxVelocity
	maximum velocity allowed
bool	torsoDofs [3]
	the indication of which Dofs are enabled to move

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Detailed Description

This Motor move the torso by velocity.

Definition at line 831 of file icubmotors.h.

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Constructor & Destructor Documentation

iCubTorsoVelocityMotor	(	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 1464 of file icubmotors.cpp.

References ConfigurationHelper::getBool(), ConfigurationHelper::getDouble(), iCubMotor::icubResource, iCubTorsoVelocityMotor::maxVelocity, iCubMotor::neuronsIteratorResource, iCubTorsoVelocityMotor::torsoDofs, and ConcurrentResourcesUser::usableResources().

~iCubTorsoVelocityMotor

(

)

Destructor.

Definition at line 1476 of file icubmotors.cpp.

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Member Function Documentation

void describe

(

QString

type

)

[static]

Describe all the parameter for configuring the iCubTorsoVelocityMotor.

Reimplemented from iCubMotor.

Definition at line 1495 of file icubmotors.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::RealDescriptor::def(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::RealDescriptor::help(), ParameterSettable::BoolDescriptor::help(), and ParameterSettable::RealDescriptor::limits().

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 1527 of file icubmotors.cpp.

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

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

Save the parameters of the iCubTorsoVelocityMotor 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 1480 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), iCubTorsoVelocityMotor::maxVelocity, ConfigurationParameters::startObjectParameters(), and iCubTorsoVelocityMotor::torsoDofs.

int size

(

)

[virtual]

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

Implements Motor.

Definition at line 1523 of file icubmotors.cpp.

References iCubTorsoVelocityMotor::torsoDofs.

void update

(

)

[virtual]

Update the state of the Motor every time step.

Implements Motor.

Definition at line 1504 of file icubmotors.cpp.

References Motor::checkAllNeededResourcesExist(), NeuronsIterator::getOutput(), iCubTorsoVelocityMotor::icubMotors, iCubTorsoVelocityMotor::maxVelocity, Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), iCubTorsoVelocityMotor::torsoDofs, and MultiMotorController::velocityMove().

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Member Data Documentation

iCubRobot* icub [protected]

the icub to move

Definition at line 859 of file icubmotors.h.

MultiMotorController* icubMotors [protected]

the motor controller for reading limits

Definition at line 861 of file icubmotors.h.

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

double maxVelocity [protected]

maximum velocity allowed

Definition at line 865 of file icubmotors.h.

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

bool torsoDofs[3] [protected]

the indication of which Dofs are enabled to move

Definition at line 863 of file icubmotors.h.

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

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

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