The base abstract class for khepera motors. More...

Inheritance diagram for KheperaMotor:

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

virtual	~KheperaMotor ()
	Destructor.

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

Public Member Functions inherited from Motor
	Motor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.

	~Motor ()
	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.

virtual int	size ()=0
	Return the number of neurons from which the Motor will get the output.

virtual void	update ()=0
	Update the state of the Motor every time step; the actual behaviour is implemented in subclasses.

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)
	Describes all the parameters for this sensor.

Static Public Member Functions inherited from Motor
static void	describe (QString type)
	Describe all the parameter for configuring the Motor.

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)

Protected Member Functions
virtual void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.

Protected Member Functions inherited from Motor
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.

Protected Member Functions inherited from ParameterSettableInConstructor
void	notifyChangesToParam (QString paramName)

Protected Member Functions inherited from ParameterSettable
void	notifyChangesToParam (QString paramName)

Protected Member Functions inherited from ConcurrentResourcesUser
T *	getResource ()

ResourcesUser &	operator= (const ResourcesUser &other)

	ResourcesUser ()

	ResourcesUser (const ResourcesUser &other)

Protected Member Functions inherited from ResourcesUser
	ResourcesUser (const ResourcesUser &other)

virtual void	notifyResourceChange (ResourceHandler *resource, ResourceChangeType changeType)=0

ResourcesUser &	operator= (const ResourcesUser &other)

Protected Attributes
QString	m_kheperaResource
	The name of the resource associated with the khepera robot.

QString	m_neuronsIteratorResource
	The name of th resource associated with the neural network iterator.

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

Static Protected Member Functions inherited from ParameterSettableInConstructor
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))

static void	setGraphicalEditor (QString type)

Detailed Description

The base abstract class for khepera motors.

This class simply has a couple of parameters that are common to all khepera motors (see below).

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

khepera: the name of the resource associated with the MarXbot robot to use (default is "robot")
neuronsIterator: the name of the resource associated with the neural network iterator (default is "neuronsIterator")

The resources required by this Motor are:

name defined by the khepera parameter: the simulated physical khepera robot
name defined by the neuronsIterator parameter: the object to iterate over neurons of the neural network

Definition at line 52 of file kheperamotors.h.

Constructor & Destructor Documentation

KheperaMotor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

This also reads configuration parameters. Moreover this adds the khepera and neuronsIterator resources to the list of resources used here

Parameters

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

Definition at line 30 of file kheperamotors.cpp.

References Motor::actualResourceNameForMultirobot(), ConfigurationHelper::getString(), KheperaMotor::m_kheperaResource, KheperaMotor::m_neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().

~KheperaMotor ( )

virtual

Destructor.

Definition at line 43 of file kheperamotors.cpp.

Member Function Documentation

void describe ( QString type )

static

Describes all the parameters for this sensor.

Parameters

type	the name with which this sensor is registered into the factory

Definition at line 59 of file kheperamotors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::StringDescriptor::def(), Motor::describe(), ParameterSettable::Descriptor::describeString(), and ParameterSettable::StringDescriptor::help().

Referenced by KheperaWheelVelocityMotor::describe().

void resourceChanged	(	QString	resourceName,
		ResourceChangeType	changeType
	)

protectedvirtual

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 ConcurrentResourcesUser.

Definition at line 70 of file kheperamotors.cpp.

References Motor::resetNeededResourcesCheck(), and ConcurrentResourcesUser::resourceChanged().