KheperaSampledProximityIRSensor Class Reference

The sampled proximity infrared sensors of the Khepera. More...

Inheritance diagram for KheperaSampledProximityIRSensor:

Public Member Functions
	KheperaSampledProximityIRSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~KheperaSampledProximityIRSensor ()
	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 KheperaSensor
	KheperaSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~KheperaSensor ()
	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 KheperaSensor
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 KheperaSensor
QString	m_kheperaResource
	The name of the resource associated with the e-puck robot.
QString	m_neuronsIteratorResource
	The name of th resource associated with the neural network iterator.

Detailed Description

The sampled proximity infrared sensors of the Khepera.

The sampled proximity infrared sensors of the Khepera. This version of the infrared proximity sensors is based on data sampled from the real robot. It is fast but only works with objects created using the Arena.

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

• activeSensors: Which IR sensors of the robot are actually enabled. This is a string of exactly 8 elements. Each element can be either "0" or "1" to respectively disable/enable the corresponding proximity IR sensor. The first sensor is the one on the left side of the robot and the others follow clockwise (i.e. left, back, right, front)
• roundSamples: the file with samples for big round objects
• smallSamples: the file with samples for small round objects
• wallSamples: the file with samples for walls

The resources required by this Sensor are the same as those of the parent class plus:

• arena: the instance of the Arena object where the robot lives

Definition at line 222 of file kheperasensors.h.

Constructor & Destructor Documentation

KheperaSampledProximityIRSensor	(	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 160 of file kheperasensors.cpp.

References ConcurrentResourcesUser::addUsableResource(), SampledIRDataLoader::filename(), ConfigurationParameters::getValue(), SampledIRDataLoader::numIR(), and ConfigurationHelper::throwUserConfigError().

~KheperaSampledProximityIRSensor ( )

virtual

Destructor.

Definition at line 190 of file kheperasensors.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 212 of file kheperasensors.cpp.

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

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 KheperaSensor.

Definition at line 195 of file kheperasensors.cpp.

References ConfigurationParameters::createParameter(), SampledIRDataLoader::filename(), KheperaSensor::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 287 of file kheperasensors.cpp.

void update ( )

virtual

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

Implements Sensor.

Definition at line 225 of file kheperasensors.cpp.

References Sensor::checkAllNeededResourcesExist(), PhyObject2DWrapper::computeDistanceAndOrientationFromRobot(), SampledIRDataLoader::getActivation(), Arena::getObjects(), Arena::getPlane(), Arena::getRobotWrapper(), KheperaSensor::m_kheperaResource, min(), Sensor::name(), NeuronsIterator::nextNeuron(), Khepera::orientation(), Khepera::position(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), PhyObject2DWrapper::type(), and Logger::warning().

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

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