It gets 3 distances (x,y,z) between the palm and the target object. More...

Inheritance diagram for iCubPalmTargetDistSensor:

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

	~iCubPalmTargetDistSensor ()
	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
void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.

Protected Attributes
bool	addPalmOffset
	if the palm offset is setted or not

wVector	bbMax
	maximum 3D point for linearization

wVector	bbMin
	minimum 3D point for linearization

QString	icubPalm
	from which arm the joint's angles are read

bool	isLeft
	left or right palm

bool	linearize
	if true will use bbMin and bbMax to linearize the position into [0,1]

wVector	palmOffset
	the offset to add to the palm

QString	targetName
	the target name

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

It gets 3 distances (x,y,z) between the palm and the target object.

Definition at line 261 of file icubsensors.h.

Constructor & Destructor Documentation

iCubPalmTargetDistSensor	(	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 438 of file icubsensors.cpp.

References iCubPalmTargetDistSensor::addPalmOffset, iCubPalmTargetDistSensor::bbMax, iCubPalmTargetDistSensor::bbMin, ConfigurationHelper::getString(), ConfigurationHelper::getVector(), iCubPalmTargetDistSensor::icubPalm, iCubSensor::icubResource, iCubPalmTargetDistSensor::linearize, Sensor::name(), iCubSensor::neuronsIteratorResource, iCubPalmTargetDistSensor::palmOffset, iCubPalmTargetDistSensor::targetName, ConcurrentResourcesUser::usableResources(), and Logger::warning().

~iCubPalmTargetDistSensor ( )

Destructor.

Definition at line 470 of file icubsensors.cpp.

Member Function Documentation

void describe ( QString type )

static

Describe all the parameter for configuring the iCubArmJointsSensor.

Definition at line 486 of file icubsensors.cpp.

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 539 of file icubsensors.cpp.

References iCubPalmTargetDistSensor::icubPalm, iCubSensor::icubResource, Logger::info(), iCubPalmTargetDistSensor::isLeft, Sensor::name(), iCubSensor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubSensor::resourceChanged(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), and iCubPalmTargetDistSensor::targetName.