This Motor move the arm in the position using the iCubRobot::configurePosture method. More...

Inheritance diagram for iCubArmPosToPostureMotor:

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

	~iCubArmPosToPostureMotor ()
	Destructor.

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

int	size ()
	Return the number of neurons from which the Motor will get the output: 7.

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

Public Member Functions inherited from iCubMotor
	iCubMotor (ConfigurationParameters &params, QString prefix)
	Constructor.

virtual	~iCubMotor ()
	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)
	Describe all the parameter for configuring the iCubArmPosToPostureMotor.

Static Public Member Functions inherited from iCubMotor
static void	describe (QString type)
	Describes all the parameters for this motor.

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

Protected Attributes
iCubRobot *	icub
	the icub to move

QString	icubArm
	from which arm the joint's angles are read

MultiMotorController *	icubMotors
	the motor controller for reading limits

bool	is7Dof
	true move all 7 Dof of the arm, false move only the first 4 Dof

int	startJointId
	the start index for configure posture

Protected Attributes inherited from iCubMotor
QString	icubResource
	The name of the resource associated with the icub robot.

QString	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

This Motor move the arm in the position using the iCubRobot::configurePosture method.

Warning: the movement of this motor is instantaneuos, it only require one step. And hence, any physics is ignored. Use this motor only in kinematic mode of the iCub.

Definition at line 166 of file icubmotors.h.

Constructor & Destructor Documentation

iCubArmPosToPostureMotor	(	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 Motor

Definition at line 183 of file icubmotors.cpp.

References ConfigurationHelper::getBool(), ConfigurationHelper::getString(), iCubArmPosToPostureMotor::icubArm, iCubMotor::icubResource, iCubArmPosToPostureMotor::is7Dof, iCubMotor::neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().

~iCubArmPosToPostureMotor ( )

Destructor.

Definition at line 193 of file icubmotors.cpp.

Member Function Documentation

void describe ( QString type )

static

Describe all the parameter for configuring the iCubArmPosToPostureMotor.

Definition at line 204 of file icubmotors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::BoolDescriptor::def(), iCubMotor::describe(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::EnumDescriptor::help(), ParameterSettable::BoolDescriptor::help(), ParameterSettableInConstructor::IsMandatory, ParameterSettable::EnumDescriptor::props(), and ParameterSettable::EnumDescriptor::values().

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 iCubMotor.

Definition at line 236 of file icubmotors.cpp.

References iCubArmPosToPostureMotor::icub, iCubArmPosToPostureMotor::icubArm, iCubArmPosToPostureMotor::icubMotors, iCubMotor::icubResource, Logger::info(), iCubArmPosToPostureMotor::is7Dof, PhyiCub::leftArmController(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubMotor::resourceChanged(), PhyiCub::rightArmController(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and iCubArmPosToPostureMotor::startJointId.