LinearCameraSensor Class Reference

Inheritance diagram for LinearCameraSensor:

Public Member Functions
	LinearCameraSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the LinearCameraSenso into the ConfigurationParameters.
int	size ()
	Return the number of neurons on which the Sensor will set the input: 2*nObjects.
void	update ()
	update the state of the sensory neurons every time step
Public Member Functions inherited from iCubSensor
	iCubSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~iCubSensor ()
	Destructor.
Public Member Functions inherited from Sensor
	Sensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~Sensor ()
	Destructor.
QString	name ()
	Return the name of the Sensor.
void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters into the ConfigurationParameters.
void	setName (QString name)
	Use this method for changing the name of the Sensor.
Public Member Functions inherited from ParameterSettableInConstructor
	ParameterSettableInConstructor (ConfigurationParameters &, QString)
void	addObserver (RuntimeParameterObserver *obs)
T	getRuntimeParameter (QString paramName)
virtual ParameterSettableUI *	getUIManager ()
	ParameterSettable ()
virtual void	postConfigureInitialization ()
void	removeObserver (RuntimeParameterObserver *obs)
void	setRuntimeParameter (QString paramName, T newvalue)
QString	typeName () const
Public Member Functions inherited from ParameterSettable
void	addObserver (RuntimeParameterObserver *obs)
T	getRuntimeParameter (QString paramName)
void	removeObserver (RuntimeParameterObserver *obs)
void	setRuntimeParameter (QString paramName, T newvalue)
QString	typeName () const
Public Member Functions inherited from ConcurrentResourcesUser
void	addUsableResource (QString resource)
void	addUsableResources (QStringList resources)
void	declareResource (QString name, T *resource, QString lockBuddy="")
void	deleteResource (QString name)
T *	getResource (QString name, bool *resourceExists=NULL)
bool	hasResource (QString name) const
void	removeAllUsableResources ()
void	removeUsableResource (QString resource)
void	removeUsableResources (QStringList resources)
virtual void	shareResourcesWith (ResourcesUser *buddy)
void	usableResources (QStringList resources)
bool	usedResourcesExist (QStringList *nonExistingResources=NULL) const

Static Public Member Functions
static void	describe (QString type)
	Describe all the parameter for configuring the ColorCameraSensor.
Static Public Member Functions inherited from iCubSensor
static void	describe (QString type)
	Describes all the parameters for this sensor.
Static Public Member Functions inherited from Sensor
static void	describe (QString type)
	Describe all the parameter for configuring the Sensor.
Static Public Member Functions inherited from ParameterSettableInConstructor
static void	describe (QString type)
static QString	fullParameterDescriptionPath (QString type, QString param)
static QString	fullSubgroupDescriptionPath (QString type, QString sub)
Static Public Member Functions inherited from ParameterSettable
static void	describe (QString type)
static QString	fullParameterDescriptionPath (QString type, QString param)
static QString	fullSubgroupDescriptionPath (QString type, QString sub)

Public Attributes
QMap< WObject *, ImagePoint >	m_objectsRetinaPosition
	The map associating to each object its position on the retina.

Additional Inherited Members
Public Types inherited from ParameterSettableInConstructor
enum	Property
Public Types inherited from ConcurrentResourcesUser
typedef Resource::ResourceChangeType	ResourceChangeType
Static Public Attributes inherited from ParameterSettableInConstructor
static const double	Infinity
static const int	MaxInteger
static const int	MinInteger
Protected Member Functions inherited from Sensor
void	checkAllNeededResourcesExist ()
	Checks whether all resources we need are existing and throws an exception if they aren't.
void	resetNeededResourcesCheck ()
	Resets the check on needed resources so that the next call to checkAllNeededResourcesExist() will perform the full check and not the quick one.
Static Protected Member Functions inherited from ParameterSettableInConstructor
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))
Protected Attributes inherited from iCubSensor
QString	icubResource
	The name of the resource associated with the iCub robot.
QString	neuronsIteratorResource
	The name of th resource associated with the neural network iterator.

Detailed Description

: nReceptors act as a retina on wich object (only spheres) postions is projected as a single point or as a gaussian

Definition at line 209 of file icubsensors.h.

Constructor & Destructor Documentation

LinearCameraSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Definition at line 304 of file icubsensors.cpp.

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

Member Function Documentation

void describe ( QString  type )

static

Describe all the parameter for configuring the ColorCameraSensor.

Definition at line 323 of file icubsensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::IntDescriptor::def(), iCubSensor::describe(), ParameterSettable::Descriptor::describeInt(), and ParameterSettable::IntDescriptor::help().

void save ( ConfigurationParameters &  params, QString  prefix  )

virtual

Save the parameters of the LinearCameraSenso 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 317 of file icubsensors.cpp.

References ConfigurationParameters::createParameter(), iCubSensor::save(), and ConfigurationParameters::startObjectParameters().

int size ( )

virtual

Return the number of neurons on which the Sensor will set the input: 2*nObjects.

Implements Sensor.

Definition at line 400 of file icubsensors.cpp.

void update ( )

virtual

update the state of the sensory neurons every time step

Implements Sensor.

Definition at line 330 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), Projector::getImagePoint01(), PhyiCub::headNeck(), iCubSensor::icubResource, LinearCameraSensor::m_objectsRetinaPosition, Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), Projector::pointInsideImage(), Projector::set3DPointWorld(), NeuronsIterator::setCurrentBlock(), Projector::setEyeMatrix(), NeuronsIterator::setInput(), and ImagePoint::x.

Member Data Documentation

QMap<WObject*, ImagePoint> m_objectsRetinaPosition

The map associating to each object its position on the retina.

Each point is normalized (i.e. is in [0, 1]x[0, 1]) from this point an activation is projected to the receptors

Definition at line 229 of file icubsensors.h.

Referenced by LinearCameraSensor::update().

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

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