MarXbotAttachmentDeviceMotor Class Reference

The motor controlling the attachment device of the MarXbot. More...

Inheritance diagram for MarXbotAttachmentDeviceMotor:

Public Member Functions
	MarXbotAttachmentDeviceMotor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~MarXbotAttachmentDeviceMotor ()
	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 motor.
virtual void	update ()
	Performs the motor update.
Public Member Functions inherited from MarXbotMotor
	MarXbotMotor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~MarXbotMotor ()
	Destructor.
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.
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 MarXbotMotor
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)

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 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.
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 MarXbotMotor
QString	m_marxbotResource
	The name of the resource associated with the MarXbot robot.
QString	m_neuronsIteratorResource
	The name of th resource associated with the neural network iterator.

Detailed Description

The motor controlling the attachment device of the MarXbot.

The motor controlling the attachment device of the MarXbot. This motor uses two outputs: one controls the movement of the attachment device, the other its status. The movement is relative: values above a upper threshold move the attachment device counterclockwise, those below a lower threshold move the attachment device clockwise and those between the two thresholds do not move the attachment device. The second output controls the status of the attachment device. The possible status depend on the typeOfClosure parameter: if it is "onlyClose", status is either Open (for values below 0.5) or Closed (for values above 0.5); if it is "onlyHalfClose", status is either Open (for values below 0.5) or HalfClosed (for values above 0.5); if it is "both", status can be Open (for values below 0.33), HalfClosed (for values between 0.33 and 0.66) or Closed (for values above 0.66).

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

• typeOfClosure: this parameter controls how the attachement device is closed. Possible values are: "onlyClose", "onlyHalfClose", "both" (default is "onlyClose")
• noMotionRange: this parameter defines how big is the range of activation which corresponds to no movement of the attachement device (default is 0.3)

The resources required by this Motor are the same as those of the parent class

Definition at line 332 of file marxbotmotors.h.

Constructor & Destructor Documentation

MarXbotAttachmentDeviceMotor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Creates and configures the motor

Parameters

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

Definition at line 262 of file marxbotmotors.cpp.

References ConfigurationParameters::getValue(), and ConfigurationHelper::throwUserConfigError().

~MarXbotAttachmentDeviceMotor ( )

virtual

Destructor.

Definition at line 279 of file marxbotmotors.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 295 of file marxbotmotors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::RealDescriptor::def(), MarXbotMotor::describe(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::RealDescriptor::help(), ParameterSettable::EnumDescriptor::help(), ParameterSettable::RealDescriptor::limits(), 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 MarXbotMotor.

Definition at line 284 of file marxbotmotors.cpp.

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

int size ( )

virtual

Returns the number of neurons required by this motor.

Returns

the number of neurons required by this motor

Implements Motor.

Definition at line 357 of file marxbotmotors.cpp.

void update ( )

virtual

Performs the motor update.

Implements Motor.

Definition at line 305 of file marxbotmotors.cpp.

References PhyMarXbot::attachmentDeviceController(), Motor::checkAllNeededResourcesExist(), MarXbotAttachmentDeviceMotorController::getMaxVelocity(), NeuronsIterator::getOutput(), Motor::name(), NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), MarXbotAttachmentDeviceMotorController::setDesiredStatus(), and MarXbotAttachmentDeviceMotorController::setDesiredVelocity().

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

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