Head sensors encoded using a population coding. More...

Public Member Functions | |
iCubPCHeadJointsSensor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor and Configure. | |
~iCubPCHeadJointsSensor () | |
Destructor. | |
void | save (ConfigurationParameters ¶ms, QString prefix) |
Save the parameters of the iCubArmJointsSensor into the ConfigurationParameters. | |
int | size () |
Return the number of neurons on which the Sensor will set the input: 7. | |
void | update () |
Update the state of the Sensor every time step. | |
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iCubSensor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor. | |
virtual | ~iCubSensor () |
Destructor. | |
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Sensor (ConfigurationParameters ¶ms, QString prefix) | |
Constructor and Configure. | |
~Sensor () | |
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 iCubArmJointsSensor. | |
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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) |
Describe all the parameter for configuring the Sensor. | |
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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 | |
double | neuronActivation (int n, int j) |
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 | |
double | headEncoderValues [6] |
MultiMotorController * | icubMotors |
the motor controller of torso | |
int | nNeurons |
The function called when a resource used here is changed. | |
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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
Head sensors encoded using a population coding.
Definition at line 552 of file icubsensors.h.
Constructor & Destructor Documentation
iCubPCHeadJointsSensor | ( | ConfigurationParameters & | params, |
QString | prefix | ||
) |
Constructor and Configure.
- Parameters
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params is the ConfigurationParameters containing the parameters prefix is the path prefix to the paramters for this Sensor
Definition at line 967 of file icubsensors.cpp.
References ConfigurationHelper::getBool(), ConfigurationHelper::getInt(), iCubPCHeadJointsSensor::headDofs, iCubSensor::icubResource, iCubSensor::neuronsIteratorResource, iCubPCHeadJointsSensor::nNeurons, and ConcurrentResourcesUser::usableResources().
Destructor.
Definition at line 982 of file icubsensors.cpp.
Member Function Documentation
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static |
Describe all the parameter for configuring the iCubArmJointsSensor.
Definition at line 1003 of file icubsensors.cpp.
References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), iCubSensor::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 iCubSensor.
Definition at line 1070 of file icubsensors.cpp.
References iCubPCHeadJointsSensor::headDofs, PhyiCub::headNeckController(), iCubPCHeadJointsSensor::icubMotors, iCubSensor::icubResource, Logger::info(), Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubPCHeadJointsSensor::nNeurons, iCubSensor::resourceChanged(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setGraphicProperties().
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virtual |
Save the parameters of the iCubArmJointsSensor into the ConfigurationParameters.
- Parameters
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params is the ConfigurationParameters where save the parameters prefix is the path prefix for the parameters to save
Reimplemented from iCubSensor.
Definition at line 985 of file icubsensors.cpp.
References ConfigurationParameters::createParameter(), iCubPCHeadJointsSensor::headDofs, iCubSensor::save(), and ConfigurationParameters::startObjectParameters().
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virtual |
Return the number of neurons on which the Sensor will set the input: 7.
Implements Sensor.
Definition at line 1064 of file icubsensors.cpp.
References iCubPCHeadJointsSensor::headDofs, and iCubPCHeadJointsSensor::nNeurons.
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virtual |
Update the state of the Sensor every time step.
Implements Sensor.
Definition at line 1016 of file icubsensors.cpp.
References Sensor::checkAllNeededResourcesExist(), MultiMotorController::getEncoder(), MultiMotorController::getLimits(), iCubPCHeadJointsSensor::headDofs, iCubPCHeadJointsSensor::icubMotors, Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubPCHeadJointsSensor::nNeurons, NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setInput().
Member Data Documentation
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protected |
the indication of which Dofs are enabled to move
Definition at line 581 of file icubsensors.h.
Referenced by iCubPCHeadJointsSensor::iCubPCHeadJointsSensor(), iCubPCHeadJointsSensor::resourceChanged(), iCubPCHeadJointsSensor::save(), iCubPCHeadJointsSensor::size(), and iCubPCHeadJointsSensor::update().
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protected |
the motor controller of torso
Definition at line 585 of file icubsensors.h.
Referenced by iCubPCHeadJointsSensor::resourceChanged(), and iCubPCHeadJointsSensor::update().
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protected |
The function called when a resource used here is changed.
\param resourceName the name of the resource that has changed. \param chageType the type of change the resource has gone through (whether it was created, modified or deleted)
number of neurons use to encode a single joint
Definition at line 579 of file icubsensors.h.
Referenced by iCubPCHeadJointsSensor::iCubPCHeadJointsSensor(), iCubPCHeadJointsSensor::resourceChanged(), iCubPCHeadJointsSensor::size(), and iCubPCHeadJointsSensor::update().
The documentation for this class was generated from the following files:
- experiments/include/icubsensors.h
- experiments/src/icubsensors.cpp