Camera sensors: two sensors (vertical and horizontal). Each sensor returns 0 when the target object is centered. Vertical and horizontal sensors. When a target object is seen sensors return a range of value from -1 to 1 where 0 menas that the target object has been focused. More...

Inheritance diagram for ColorCameraSensor:

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Public Member Functions
	ColorCameraSensor (ConfigurationParameters &params, QString prefix)
	Constructor.

void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the ColorCameraSensor 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
QString	actualResourceNameForMultirobot (QString resourceName) const
	Returns the actual resource name to use.

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(""))

static void	setGraphicalEditor (QString type)

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

Camera sensors: two sensors (vertical and horizontal). Each sensor returns 0 when the target object is centered. Vertical and horizontal sensors. When a target object is seen sensors return a range of value from -1 to 1 where 0 menas that the target object has been focused.

Definition at line 162 of file icubsensors.h.

Constructor & Destructor Documentation

ColorCameraSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Definition at line 173 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 188 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 ColorCameraSensor 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 182 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 255 of file icubsensors.cpp.

void update ( )

virtual

update the state of the sensory neurons every time step

Implements Sensor.

Definition at line 195 of file icubsensors.cpp.

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

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])

Definition at line 182 of file icubsensors.h.

Referenced by ColorCameraSensor::update().

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

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

Experiments - 1.2.3

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation