A sensor returning the visual distance between the hand and the object. More...

Inheritance diagram for HandObjectVisualOffsetSensor:

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

	~HandObjectVisualOffsetSensor ()
	Destructor.

virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves current parameters into the given ConfigurationParameters object.

virtual int	size ()
	Returns the number of neurons required by this sensor.

virtual void	update ()
	Performs the sensor update. This also modifies the activation of input neurons.

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)
	Generates a description of this class and its parameters.

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)

Additional Inherited Members
Public Types inherited from ParameterSettableInConstructor
enum	Property

Public Types inherited from ConcurrentResourcesUser
typedef Resource::ResourceChangeType	ResourceChangeType

Public Attributes inherited from ParameterSettableInConstructor
	AllowMultiple

	Default

	IsList

	IsMandatory

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

A sensor returning the visual distance between the hand and the object.

This sensor computes the distance between the hand and the first object in the visual field of the robot. Returns the distances on the vertical and horizontal axes (needs two neurons). Each distance is normalized in the range [-1.0, 1.0].

In addition to all parameters defined by the parent class (Sensor), this class also defines the following parameters:

icub: the name of the resource associated with the iCub robot to use
hand: the hand whose distance from the object should be returned. Choose between "right" and "left"

The resources required by this Sensor are:

evonetIterator: the object to iterate over neurons of the neural network
world: the simulated physical world
icub: the simulated physical iCub robot
evorobotexperiment: the pointer to the current experiment, which must be a subclass of EvoRobotExperiment. This is needed to get the list of objects defined by the experiment

Definition at line 1027 of file icubsensors.h.

Constructor & Destructor Documentation

HandObjectVisualOffsetSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Creates and configures the sensor

Parameters

params	the ConfigurationParameters containing the parameters
prefix	the path prefix to the paramters for this Sensor

Definition at line 2065 of file icubsensors.cpp.

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

~HandObjectVisualOffsetSensor ( )

Destructor.

Definition at line 2079 of file icubsensors.cpp.

Member Function Documentation

void describe ( QString type )

static

Generates a description of this class and its parameters.

Parameters

type	the string representation of this class name

Definition at line 2091 of file icubsensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::EnumDescriptor::def(), iCubSensor::describe(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::EnumDescriptor::help(), ParameterSettableInConstructor::IsMandatory, ParameterSettable::EnumDescriptor::props(), and ParameterSettable::EnumDescriptor::values().

void save	(	ConfigurationParameters &	params,
		QString	prefix
	)

virtual

Saves current parameters into the given ConfigurationParameters object.

Parameters

params	the ConfigurationParameters object in which parameters should be saved
prefix	the name and path of the group where to save parametrs

Reimplemented from iCubSensor.

Definition at line 2083 of file icubsensors.cpp.

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

int size ( )

virtual

Returns the number of neurons required by this sensor.

Returns: the number of neurons required by this sensor

Implements Sensor.

Definition at line 2141 of file icubsensors.cpp.

void update ( )

virtual

Performs the sensor update. This also modifies the activation of input neurons.

Implements Sensor.

Definition at line 2098 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), Projector::getImagePoint01(), ImagePoint::isValid(), WObject::matrix(), Sensor::name(), iCubSensor::neuronsIteratorResource, EvonetIterator::nextNeuron(), Projector::set3DPointWorld(), EvonetIterator::setCurrentBlock(), Projector::setEyeMatrix(), EvonetIterator::setInput(), wMatrix::w_pos, ImagePoint::x, and ImagePoint::y.

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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation