It controls each head joint (up to 2) through a couple of muscles. More...

Public Member Functions | |
iCubHeadMusclesMotor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor and Configure. | |
~iCubHeadMusclesMotor () | |
Destructor. | |
void | save (ConfigurationParameters ¶ms, QString prefix) |
Save the parameters of the iCubArmRandomMotor 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. | |
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iCubMotor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor. | |
virtual | ~iCubMotor () |
Destructor. | |
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Motor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor and Configure. | |
~Motor () | |
Destructor. | |
QString | name () |
Return the name of the Sensor. | |
void | save (ConfigurationParameters ¶ms, QString prefix) |
Save the parameters into the ConfigurationParameters. | |
void | setName (QString name) |
Use this method for changing the name of the Sensor. | |
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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 |
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void | addObserver (RuntimeParameterObserver *obs) |
T | getRuntimeParameter (QString paramName) |
void | removeObserver (RuntimeParameterObserver *obs) |
void | setRuntimeParameter (QString paramName, T newvalue) |
QString | typeName () const |
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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 iCubArmRandomMotor. | |
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static void | describe (QString type) |
Describes all the parameters for this motor. | |
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static void | describe (QString type) |
Describe all the parameter for configuring the Motor. | |
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static void | describe (QString type) |
static QString | fullParameterDescriptionPath (QString type, QString param) |
static QString | fullSubgroupDescriptionPath (QString type, QString sub) |
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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 | |
MultiMotorController * | icubMotors |
the motor controller for reading limits | |
MusclePair ** | musclePairs |
Muscle pair array. | |
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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 | |
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enum | Property |
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typedef Resource::ResourceChangeType | ResourceChangeType |
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AllowMultiple | |
Default | |
IsList | |
IsMandatory | |
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static const double | Infinity |
static const int | MaxInteger |
static const int | MinInteger |
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static Descriptor | addTypeDescription (QString type, QString shortHelp, QString longHelp=QString("")) |
static void | setGraphicalEditor (QString type) |
Detailed Description
It controls each head joint (up to 2) through a couple of muscles.
Definition at line 372 of file icubmotors.h.
Constructor & Destructor Documentation
iCubHeadMusclesMotor | ( | farsa::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 671 of file icubmotors.cpp.
References iCubMotor::icubResource, iCubMotor::neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().
~iCubHeadMusclesMotor | ( | ) |
Destructor.
Definition at line 680 of file icubmotors.cpp.
References iCubHeadMusclesMotor::musclePairs.
Member Function Documentation
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static |
Describe all the parameter for configuring the iCubArmRandomMotor.
Definition at line 693 of file icubmotors.cpp.
References ParameterSettableInConstructor::addTypeDescription(), and iCubMotor::describe().
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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 726 of file icubmotors.cpp.
References PhyiCub::headNeckController(), iCubHeadMusclesMotor::icub, iCubHeadMusclesMotor::icubMotors, iCubMotor::icubResource, Logger::info(), iCubHeadMusclesMotor::musclePairs, Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubMotor::resourceChanged(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setGraphicProperties().
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virtual |
Save the parameters of the iCubArmRandomMotor into the ConfigurationParameters.
- Parameters
-
params is the ConfigurationParameters where save the parameters prefix is the path prefix for the parameters to save
Reimplemented from iCubMotor.
Definition at line 687 of file icubmotors.cpp.
References iCubMotor::save(), and ConfigurationParameters::startObjectParameters().
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virtual |
Return the number of neurons from which the Motor will get the output: 7.
Implements Motor.
Definition at line 722 of file icubmotors.cpp.
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virtual |
Update the state of the Motor every time step.
Implements Motor.
Definition at line 698 of file icubmotors.cpp.
References Motor::checkAllNeededResourcesExist(), NeuronsIterator::getOutput(), iCubHeadMusclesMotor::icubMotors, iCubHeadMusclesMotor::musclePairs, Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), MusclePair::setActivation(), NeuronsIterator::setCurrentBlock(), and MultiMotorController::velocityMove().
Member Data Documentation
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protected |
the icub to move
Definition at line 402 of file icubmotors.h.
Referenced by iCubHeadMusclesMotor::resourceChanged().
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protected |
the motor controller for reading limits
Definition at line 404 of file icubmotors.h.
Referenced by iCubHeadMusclesMotor::resourceChanged(), and iCubHeadMusclesMotor::update().
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protected |
Muscle pair array.
Definition at line 400 of file icubmotors.h.
Referenced by iCubHeadMusclesMotor::resourceChanged(), iCubHeadMusclesMotor::update(), and iCubHeadMusclesMotor::~iCubHeadMusclesMotor().
The documentation for this class was generated from the following files:
- experiments/include/icubmotors.h
- experiments/src/icubmotors.cpp