iCubConfigurableHandPosToVelMotor Class Reference

A configurable motor moving the iCub fingers to the given position. More...

Inheritance diagram for iCubConfigurableHandPosToVelMotor:

Public Member Functions
	iCubConfigurableHandPosToVelMotor (ConfigurationParameters &params, QString prefix)
	Constructor.
	~iCubConfigurableHandPosToVelMotor ()
	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. This also reads the activation of output neurons.
Public Member Functions inherited from iCubPosToVelMotor
	iCubPosToVelMotor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~iCubPosToVelMotor ()
	Destructor.
real	getK () const
	Returns the value of the gain (k) used by the proportional controller.
real	getMaxVelocity () const
	Returns the maximum velocity used by the proportional controller.
const ProportionalController &	proportionalController () const
	Returns a const reference to the proportional controller.
void	setK (real k)
	Sets the value of the gain (k) used by the proportional controller.
void	setMaxVelocity (real maxVelocity)
	Sets the maximum velocity used by the proportional controller.
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)
	Generates a description of this class and its parameters.
Static Public Member Functions inherited from iCubPosToVelMotor
static void	describe (QString type)
	Describes all the parameters for this sensor.
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)

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 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.

Detailed Description

A configurable motor moving the iCub fingers to the given position.

A motor for the iCub hand. This allows to specify which joints should be controlled and to group joints so that a single outpu neuron can control more than one joint at a time (see the jointsGroups parameter). Moreover it is possible to limit the movement of fingers to a fraction of their original range (see the maxClosure parameter). This motor receives the desidered position of joints and moves them in velocity

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

• icub: the name of the resource associated with the iCub robot to use
• hand: the hand to control. Choose between "right" and "left"
• jointsGroups: this parameter allows specifying which joints should be controlled together. The format is like this: joint1,joint2/joint5,joint6,joint3/joint4. In this case we have three groups of joints: (joint1 and joint2), (joint5, joint6 and joint3) and (joint4). Joints in the same group are controlled together, while joints that are not listed in any group are not controlled. This parameter is compulsory, if it is not present, the program throws an exception. The allowed joint names are: Aperture, Thumb1, Thumb2, Thumb3, Index1, Index2, Middle1, Middle2, Others (case insensitive)
• maxClosure: this parameter allows limiting joint excursion to a portion of the original one. If set to 1.0 all joints move within their limits, otherwise their upper limit is set to maxClosure portion of the original upper limit. This applies to all controlled joints. A value of 0.0 disables all joint movements
• k: this parameter is the gain for the proportional controller converting position displacement (desired position minus current position) to a velocity to apply to the joint
• maxvel: this is the maximum allowed velocity that can be applied to a joint (absolute value). Velocities greater than this are truncated to +maxvel or -maxvel

The resources required by this Motor are:

• evonetIterator: the object to iterate over neurons of the neural network
• robot: the simulated physical iCub robot

Definition at line 685 of file icubmotors.h.

Constructor & Destructor Documentation

iCubConfigurableHandPosToVelMotor	(	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 1093 of file icubmotors.cpp.

References ConfigurationHelper::getDouble(), ConfigurationHelper::getString(), ConfigurationParameters::getValue(), iCubMotor::icubResource, iCubMotor::neuronsIteratorResource, ConfigurationHelper::throwUserConfigError(), and ConcurrentResourcesUser::usableResources().

~iCubConfigurableHandPosToVelMotor

(

)

Destructor.

Definition at line 1162 of file icubmotors.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 1210 of file icubmotors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::StringDescriptor::def(), ParameterSettable::RealDescriptor::def(), iCubPosToVelMotor::describe(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::Descriptor::describeString(), ParameterSettable::StringDescriptor::help(), ParameterSettable::EnumDescriptor::help(), ParameterSettable::RealDescriptor::help(), ParameterSettableInConstructor::IsMandatory, ParameterSettable::RealDescriptor::limits(), ParameterSettable::StringDescriptor::props(), ParameterSettable::EnumDescriptor::props(), 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 iCubPosToVelMotor.

Definition at line 1166 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), iCubPosToVelMotor::save(), iCubConfigurableHandPosToVelMotor::size(), 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 1249 of file icubmotors.cpp.

Referenced by iCubConfigurableHandPosToVelMotor::save().

void update ( )

virtual

Performs the motor update. This also reads the activation of output neurons.

Implements Motor.

Definition at line 1219 of file icubmotors.cpp.

References Motor::checkAllNeededResourcesExist(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), NeuronsIterator::getOutput(), linearMap(), max(), min(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubPosToVelMotor::proportionalController(), NeuronsIterator::setCurrentBlock(), and MultiMotorController::velocityMove().

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

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