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

Public Member Functions | |
MarXbotAttachmentDeviceMotor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor. | |
virtual | ~MarXbotAttachmentDeviceMotor () |
Destructor. | |
virtual void | save (ConfigurationParameters ¶ms, 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. | |
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MarXbotMotor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor. | |
virtual | ~MarXbotMotor () |
Destructor. | |
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Motor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor and Configure. | |
~Motor () | |
Destructor. | |
QString | name () |
Return the name of the Sensor. | |
void | save (ConfigurationParameters ¶ms, QString prefix) |
Save the parameters into the ConfigurationParameters. | |
void | setName (QString name) |
Use this method for changing the name of the Sensor. | |
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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 |
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void | addObserver (RuntimeParameterObserver *obs) |
T | getRuntimeParameter (QString paramName) |
void | removeObserver (RuntimeParameterObserver *obs) |
void | setRuntimeParameter (QString paramName, T newvalue) |
QString | typeName () const |
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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. | |
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static void | describe (QString type) |
Describes all the parameters for this sensor. | |
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static void | describe (QString type) |
Describe all the parameter for configuring the Motor. | |
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static void | describe (QString type) |
static QString | fullParameterDescriptionPath (QString type, QString param) |
static QString | fullSubgroupDescriptionPath (QString type, QString sub) |
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static void | describe (QString type) |
static QString | fullParameterDescriptionPath (QString type, QString param) |
static QString | fullSubgroupDescriptionPath (QString type, QString sub) |
Additional Inherited Members | |
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enum | Property |
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typedef Resource::ResourceChangeType | ResourceChangeType |
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AllowMultiple | |
Default | |
IsList | |
IsMandatory | |
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static const double | Infinity |
static const int | MaxInteger |
static const int | MinInteger |
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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. | |
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static Descriptor | addTypeDescription (QString type, QString shortHelp, QString longHelp=QString("")) |
static void | setGraphicalEditor (QString type) |
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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().
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virtual |
Destructor.
Definition at line 279 of file marxbotmotors.cpp.
Member Function Documentation
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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().
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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().
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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.
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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().
The documentation for this class was generated from the following files:
- experiments/include/marxbotmotors.h
- experiments/src/marxbotmotors.cpp