This Motor move the arm by velocity. More...

Inheritance diagram for iCubArmVelocityMotor:

Public Member Functions

 iCubArmVelocityMotor (ConfigurationParameters &params, QString prefix)
 Constructor and Configure.
 
 ~iCubArmVelocityMotor ()
 Destructor.
 
void save (ConfigurationParameters &params, QString prefix)
 Save the parameters of the iCubArmVelocityMotor 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)
 
getRuntimeParameter (QString paramName)
 
virtual ParameterSettableUIgetUIManager ()
 
 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)
 
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

iCubRoboticub
 the icub to move
 
QString icubArm
 from which arm the joint's angles are read
 
MultiMotorControllericubMotors
 the motor controller for reading limits
 
bool is7Dof
 true move all 7 Dof of the arm, false move only the first 4 Dof
 
double maxVelocity
 maximum velocity allowed
 
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 by velocity.

Definition at line 859 of file icubmotors.h.

Constructor & Destructor Documentation

Destructor.

Definition at line 1374 of file icubmotors.cpp.

Member Function Documentation

void resourceChanged ( QString  resourceName,
ResourceChangeType  changeType 
)
protectedvirtual

The function called when a resource used here is changed.

Parameters
resourceNamethe name of the resource that has changed.
chageTypethe type of change the resource has gone through (whether it was created, modified or deleted)

Reimplemented from iCubMotor.

Definition at line 1416 of file icubmotors.cpp.

References iCubArmVelocityMotor::icubArm, iCubArmVelocityMotor::icubMotors, iCubMotor::icubResource, Logger::info(), iCubArmVelocityMotor::is7Dof, Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubMotor::resourceChanged(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and iCubArmVelocityMotor::startJointId.

void save ( ConfigurationParameters params,
QString  prefix 
)
virtual

Save the parameters of the iCubArmVelocityMotor into the ConfigurationParameters.

Parameters
paramsis the ConfigurationParameters where save the parameters
prefixis the path prefix for the parameters to save

Reimplemented from iCubMotor.

Definition at line 1378 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), iCubArmVelocityMotor::icubArm, iCubArmVelocityMotor::is7Dof, iCubArmVelocityMotor::maxVelocity, iCubMotor::save(), and ConfigurationParameters::startObjectParameters().

int size ( )
virtual

Return the number of neurons from which the Motor will get the output: 7.

Implements Motor.

Definition at line 1412 of file icubmotors.cpp.

References iCubArmVelocityMotor::is7Dof.

Member Data Documentation

iCubRobot* icub
protected

the icub to move

Definition at line 889 of file icubmotors.h.

QString icubArm
protected

from which arm the joint's angles are read

Definition at line 887 of file icubmotors.h.

Referenced by iCubArmVelocityMotor::iCubArmVelocityMotor(), iCubArmVelocityMotor::resourceChanged(), and iCubArmVelocityMotor::save().

MultiMotorController* icubMotors
protected

the motor controller for reading limits

Definition at line 891 of file icubmotors.h.

Referenced by iCubArmVelocityMotor::resourceChanged(), and iCubArmVelocityMotor::update().

bool is7Dof
protected

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

Definition at line 895 of file icubmotors.h.

Referenced by iCubArmVelocityMotor::iCubArmVelocityMotor(), iCubArmVelocityMotor::resourceChanged(), iCubArmVelocityMotor::save(), iCubArmVelocityMotor::size(), and iCubArmVelocityMotor::update().

double maxVelocity
protected

maximum velocity allowed

Definition at line 897 of file icubmotors.h.

Referenced by iCubArmVelocityMotor::iCubArmVelocityMotor(), iCubArmVelocityMotor::save(), and iCubArmVelocityMotor::update().

int startJointId
protected

the start index for configure posture

Definition at line 893 of file icubmotors.h.

Referenced by iCubArmVelocityMotor::resourceChanged().


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