It controls each head joint (up to 2) in position by adjusting the joint's velocity with the proportional controller. More...

Public Member Functions | |
iCubHeadPosToVelMotor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor and Configure. | |
~iCubHeadPosToVelMotor () | |
Destructor. | |
void | save (ConfigurationParameters ¶ms, QString prefix) |
Save the parameters of the iCubHeadPosToVelMotor 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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iCubPosToVelMotor (ConfigurationParameters ¶ms, 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. | |
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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 sensor. | |
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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 | |
bool | headDofs [6] |
the indication of which Dofs are enabled to move | |
iCubRobot * | icub |
the icub to move | |
MultiMotorController * | icubMotors |
the motor controller for reading limits | |
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) in position by adjusting the joint's velocity with the proportional controller.
Definition at line 609 of file icubmotors.h.
Constructor & Destructor Documentation
iCubHeadPosToVelMotor | ( | 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 980 of file icubmotors.cpp.
References ConfigurationHelper::getBool(), iCubHeadPosToVelMotor::headDofs, iCubMotor::icubResource, iCubMotor::neuronsIteratorResource, and ConcurrentResourcesUser::usableResources().
Destructor.
Definition at line 995 of file icubmotors.cpp.
Member Function Documentation
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static |
Describe all the parameter for configuring the iCubArmRandomMotor.
Definition at line 1016 of file icubmotors.cpp.
References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), iCubPosToVelMotor::describe(), ParameterSettable::Descriptor::describeBool(), and ParameterSettable::BoolDescriptor::help().
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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 1070 of file icubmotors.cpp.
References PhyiCub::headNeckController(), iCubHeadPosToVelMotor::icub, iCubHeadPosToVelMotor::icubMotors, iCubMotor::icubResource, Logger::info(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubMotor::resourceChanged(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and iCubHeadPosToVelMotor::size().
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virtual |
Save the parameters of the iCubHeadPosToVelMotor into the ConfigurationParameters.
- Parameters
-
params is the ConfigurationParameters where save the parameters prefix is the path prefix for the parameters to save
Reimplemented from iCubPosToVelMotor.
Definition at line 999 of file icubmotors.cpp.
References ConfigurationParameters::createParameter(), iCubHeadPosToVelMotor::headDofs, iCubPosToVelMotor::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 1064 of file icubmotors.cpp.
References iCubHeadPosToVelMotor::headDofs.
Referenced by iCubHeadPosToVelMotor::resourceChanged().
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virtual |
Update the state of the Motor every time step.
Implements Motor.
Definition at line 1027 of file icubmotors.cpp.
References Motor::checkAllNeededResourcesExist(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), NeuronsIterator::getOutput(), iCubHeadPosToVelMotor::headDofs, iCubHeadPosToVelMotor::icubMotors, linearMap(), max(), min(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubPosToVelMotor::proportionalController(), NeuronsIterator::setCurrentBlock(), and MultiMotorController::velocityMove().
Member Data Documentation
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protected |
the indication of which Dofs are enabled to move
Definition at line 641 of file icubmotors.h.
Referenced by iCubHeadPosToVelMotor::iCubHeadPosToVelMotor(), iCubHeadPosToVelMotor::save(), iCubHeadPosToVelMotor::size(), and iCubHeadPosToVelMotor::update().
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protected |
the icub to move
Definition at line 637 of file icubmotors.h.
Referenced by iCubHeadPosToVelMotor::resourceChanged().
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protected |
the motor controller for reading limits
Definition at line 639 of file icubmotors.h.
Referenced by iCubHeadPosToVelMotor::resourceChanged(), and iCubHeadPosToVelMotor::update().
The documentation for this class was generated from the following files:
- experiments/include/icubmotors.h
- experiments/src/icubmotors.cpp