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

Inheritance diagram for iCubPCHeadJointsSensor:

Public Member Functions
	iCubPCHeadJointsSensor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.

	~iCubPCHeadJointsSensor ()
	Destructor.

void	save (ConfigurationParameters &params, 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.

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)
	Describe all the parameter for configuring the iCubArmJointsSensor.

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)

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.

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.

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

Static Protected Member Functions inherited from ParameterSettableInConstructor
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

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().

~iCubPCHeadJointsSensor ( )

Destructor.

Definition at line 982 of file icubsensors.cpp.

Member Function Documentation

void describe ( QString type )

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().

void resourceChanged	(	QString	resourceName,
		ResourceChangeType	changeType
	)

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().

void save	(	ConfigurationParameters &	params,
		QString	prefix
	)

virtual

Save the parameters of the iCubArmJointsSensor into the ConfigurationParameters.

Parameters

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().

int size ( )

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.

void update ( )

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

bool headDofs[6]

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().

MultiMotorController* icubMotors

protected

the motor controller of torso

Definition at line 585 of file icubsensors.h.

Referenced by iCubPCHeadJointsSensor::resourceChanged(), and iCubPCHeadJointsSensor::update().

int nNeurons

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

Experiments - 1.2.3

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation