iCubSimulator Class Reference

a simple iCub simulator. More...

Inheritance diagram for iCubSimulator:

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 ParameterSettableUI *	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.
Public Member Functions inherited from Component
	Component ()
	Constructor.
virtual	~Component ()
	Destructor.
void	setStatus (QString newStatus)
	used by subclasses to change the status of the experiment
QString	status ()
	return a text description of the current status of the component
Public Member Functions inherited from ParameterSettableWithConfigureFunction
void	addObserver (RuntimeParameterObserver *obs)
T	getRuntimeParameter (QString paramName)
	ParameterSettable ()
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

Static Public Member Functions
static void	describe (QString type)
	Description of all parameters.

Additional Inherited Members
Public Types inherited from ParameterSettableWithConfigureFunction
enum	Property
Signals inherited from Component
void	statusChanged (QString newStatus)
	emitted when the status is changed
Public Attributes inherited from ParameterSettableWithConfigureFunction
	AllowMultiple
	Default
	IsList
	IsMandatory
Static Public Attributes inherited from ParameterSettableWithConfigureFunction
static const double	Infinity
static const int	MaxInteger
static const int	MinInteger
Protected Member Functions inherited from ParameterSettableWithConfigureFunction
void	notifyChangesToParam (QString paramName)
Static Protected Member Functions inherited from ParameterSettableWithConfigureFunction
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))

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(), max(), min(), World::setIsRealTime(), World::setSize(), Component::setStatus(), World::setTimeStep(), and wMatrix::w_pos.

void describe ( QString  type )

static

Description of all parameters.

Definition at line 113 of file icubsimulator.cpp.

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

ParameterSettableUI * getUIManager ( )

virtual

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

Reimplemented from ParameterSettableWithConfigureFunction.

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 ParameterSettableWithConfigureFunction.

Definition at line 110 of file icubsimulator.cpp.

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

virtual

Save function.

Implements Component.

Definition at line 93 of file icubsimulator.cpp.

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

void start ( )

slot

Start the simulation of the iCub.

Definition at line 130 of file icubsimulator.cpp.

References Component::setStatus().

void step ( )

slot

Advance the simulation of one step only.

Definition at line 138 of file icubsimulator.cpp.

References Component::setStatus().

void suspend ( )

slot

Suspend the simulation of the iCub.

Definition at line 134 of file icubsimulator.cpp.

References Component::setStatus().

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

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