iCubFingertipsTouchSensor Class Reference

A sensor registering contacts with the iCub fingertips. More...

Inheritance diagram for iCubFingertipsTouchSensor:

Public Member Functions
	iCubFingertipsTouchSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
	~iCubFingertipsTouchSensor ()
	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 sensor.
virtual void	update ()
	Performs the sensor update. This also modifies the activation of input neurons.
Public Member Functions inherited from iCubSensor
	iCubSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~iCubSensor ()
	Destructor.
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	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 iCubSensor
static void	describe (QString type)
	Describes all the parameters for this sensor.
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)

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 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.
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 iCubSensor
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 sensor registering contacts with the iCub fingertips.

The touch sensor of the iCub fingertips (this doesn't check contacts with palm). There are five sensors, one for each figertip. This sensor works both when the iCub is dynamic and when it is kinematic, as it uses Wolrd::smartCheckContacts. The neuron corresponding to each touch sensor is set to either 0 or 1 depending on whether the sensor is active (i.e. is in touch with something) or not. When the iCub is dynamic, it is also possible to specify whether contacts with all objects in the world should be registered or only with objects defined by the experiment using the "checkAllObjects" parameter. When the iCub is kinematic only collisions with objects defined by the experiment are checked. Check the "Fingertip Touch Sensor.png" image for information on the location of the touch sensor on the fingertip.

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

• icub: the name of the resource associated with the iCub robot to use
• hand: the hand to use. Choose between "right" and "left"
• checkAllObjects: a boolean value specifying whether to check collisions with all objects or not (see the class description for more information)
• alpha: the aperture of the touch sensor in degrees (see the image)
• h: the height of the touch sensor (see the image)
• drawSensor: if true the location of the touch sensor is drawn

The resources required by this Sensor are:

• evonetIterator: the object to iterate over neurons of the neural network
• world: the simulated physical world
• icub: the simulated physical iCub robot
• evorobotexperiment: the pointer to the current experiment, which must be a subclass of EvoRobotExperiment. This is needed to get the list of objects defined by the experiment

Definition at line 666 of file icubsensors.h.

Constructor & Destructor Documentation

iCubFingertipsTouchSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Creates and configures the sensor

Parameters

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

Definition at line 1619 of file icubsensors.cpp.

References ConfigurationHelper::getBool(), ConfigurationHelper::getDouble(), ConfigurationHelper::getString(), iCubSensor::icubResource, iCubSensor::neuronsIteratorResource, ConfigurationHelper::throwUserConfigError(), toDegree(), toRad(), and ConcurrentResourcesUser::usableResources().

~iCubFingertipsTouchSensor

(

)

Destructor.

Definition at line 1650 of file icubsensors.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 1666 of file icubsensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::RealDescriptor::def(), iCubSensor::describe(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::EnumDescriptor::help(), ParameterSettable::BoolDescriptor::help(), ParameterSettable::RealDescriptor::help(), ParameterSettableInConstructor::IsMandatory, 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 iCubSensor.

Definition at line 1655 of file icubsensors.cpp.

References ConfigurationParameters::createParameter(), iCubSensor::save(), ConfigurationParameters::startObjectParameters(), and toDegree().

int size ( )

virtual

Returns the number of neurons required by this sensor.

Returns

the number of neurons required by this sensor

Implements Sensor.

Definition at line 1703 of file icubsensors.cpp.

void update ( )

virtual

Performs the sensor update. This also modifies the activation of input neurons.

Implements Sensor.

Definition at line 1677 of file icubsensors.cpp.

References Sensor::checkAllNeededResourcesExist(), Sensor::name(), iCubSensor::neuronsIteratorResource, EvonetIterator::nextNeuron(), EvonetIterator::setCurrentBlock(), and EvonetIterator::setInput().

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

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