It gets the three absolute coordinate (world frame) of an object. More...

Inheritance diagram for ObjectPositionSensor:

Public Member Functions
	ObjectPositionSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.

	~ObjectPositionSensor ()
	Destructor.

void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the ObjectPositionSensor into the ConfigurationParameters.

int	size ()
	Return the number of neurons on which the Sensor will set the input: 3.

void	update ()
	Update the state of the Sensor every time step.

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	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)
	Describe all the parameter for configuring the iCubArmJointsSensor.

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)

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

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.

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
wVector	bbMax
	maximum 3D point for linearization

wVector	bbMin
	minimum 3D point for linearization

bool	linearize
	if true will use bbMin and bbMax to linearize the position into [0,1]

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

QString	objectName
	the object resource name

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

It gets the three absolute coordinate (world frame) of an object.

Definition at line 154 of file sensors.h.

Constructor & Destructor Documentation

ObjectPositionSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor and Configure.

Parameters

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

Definition at line 132 of file sensors.cpp.

References ObjectPositionSensor::bbMax, ObjectPositionSensor::bbMin, ConfigurationHelper::getString(), ConfigurationHelper::getVector(), ObjectPositionSensor::linearize, Sensor::name(), ObjectPositionSensor::neuronsIteratorResource, ObjectPositionSensor::objectName, ConcurrentResourcesUser::usableResources(), and Logger::warning().

~ObjectPositionSensor ( )

Destructor.

Definition at line 153 of file sensors.cpp.

Member Function Documentation

void describe ( QString type )

static

Describe all the parameter for configuring the iCubArmJointsSensor.

Definition at line 157 of file sensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::StringDescriptor::def(), Sensor::describe(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::Descriptor::describeString(), ParameterSettable::RealDescriptor::help(), ParameterSettable::StringDescriptor::help(), ParameterSettableInConstructor::IsList, ParameterSettableInConstructor::IsMandatory, ParameterSettable::StringDescriptor::props(), and ParameterSettable::RealDescriptor::props().

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 191 of file sensors.cpp.

References Logger::info(), Sensor::name(), ObjectPositionSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), ObjectPositionSensor::objectName, Sensor::resetNeededResourcesCheck(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setGraphicProperties().