iCubPosToVelMotor Class Reference

The base class for iCub motors that are controlled by target posture and move the robot with velocity commands. More...

Inheritance diagram for iCubPosToVelMotor:

Public Member Functions
	iCubPosToVelMotor (ConfigurationParameters &params, 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.
virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves the parameters of the sensor into the ConfigurationParameters object.
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.
Public Member Functions inherited from iCubMotor
	iCubMotor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~iCubMotor ()
	Destructor.
Public Member Functions inherited from Motor
	Motor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~Motor ()
	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.
virtual int	size ()=0
	Return the number of neurons from which the Motor will get the output.
virtual void	update ()=0
	Update the state of the Motor every time step; the actual behaviour is implemented in subclasses.
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)
	Describes all the parameters for this sensor.
Static Public Member Functions inherited from iCubMotor
static void	describe (QString type)
	Describes all the parameters for this motor.
Static Public Member Functions inherited from Motor
static void	describe (QString type)
	Describe all the parameter for configuring the Motor.
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)

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
Protected Member Functions inherited from iCubMotor
virtual void	resourceChanged (QString resourceName, ResourceChangeType changeType)
	The function called when a resource used here is changed.
Static Protected Member Functions inherited from ParameterSettableInConstructor
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))
static void	setGraphicalEditor (QString type)
Protected Attributes inherited from iCubMotor
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.

Detailed Description

The base class for iCub motors that are controlled by target posture and move the robot with velocity commands.

This class defines some parameters that are common to all iCub motors that get absolute postures and send velocity commands.

In addition to all parameters defined by the parent class (iCubMotor), this class also defines the following parameters:

• k: the gain for the proportional controller converting position displacement (desired position minus current position) to a velocity to apply to the joints. The default is 0.3
• maxVelocity: the absolute value of the maximum velocity for joints (i.e. the velocity applied to joints are always in the range [+maxvel, -maxvel]). The default is 20

The resources required by this Motor are the same as those of the parent class

Definition at line 426 of file icubmotors.h.

Constructor & Destructor Documentation

iCubPosToVelMotor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

This also reads configuration parameters

Parameters

params	the ConfigurationParameters containing the parameters for the sensor
prefix	the path prefix to the paramters for this sensor

Definition at line 771 of file icubmotors.cpp.

~iCubPosToVelMotor ( )

virtual

Destructor.

Definition at line 777 of file icubmotors.cpp.

Member Function Documentation

void describe ( QString  type )

static

Describes all the parameters for this sensor.

Parameters

type	the name with which this sensor is registered into the factory

Definition at line 793 of file icubmotors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::RealDescriptor::def(), iCubMotor::describe(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::RealDescriptor::help(), ParameterSettableInConstructor::Infinity, and ParameterSettable::RealDescriptor::limits().

Referenced by iCubArmPosToVelMotor::describe(), iCubTorsoPosToVelMotor::describe(), iCubHeadPosToVelMotor::describe(), and iCubConfigurableHandPosToVelMotor::describe().

real getK ( ) const

inline

Returns the value of the gain (k) used by the proportional controller.

Returns

the value of the gain used by the proportional controller

Definition at line 481 of file icubmotors.h.

References ProportionalController::getK().

Referenced by iCubPosToVelMotor::save().

real getMaxVelocity ( ) const

inline

Returns the maximum velocity used by the proportional controller.

Returns

the maximum velocity used by the proportional controller

Definition at line 503 of file icubmotors.h.

Referenced by iCubPosToVelMotor::save().

const ProportionalController& proportionalController ( ) const

inline

Returns a const reference to the proportional controller.

The returned object is the one that converts displacements to velocities to apply to joints

Returns

the proportional controller

Definition at line 470 of file icubmotors.h.

Referenced by iCubArmPosToVelMotor::update(), iCubTorsoPosToVelMotor::update(), iCubHeadPosToVelMotor::update(), and iCubConfigurableHandPosToVelMotor::update().

void save ( ConfigurationParameters &  params, QString  prefix  )

virtual

Saves the parameters of the sensor into the ConfigurationParameters object.

Parameters

params	the ConfigurationParameters where save the parameters of the sensors
prefix	the path prefix for the parameters to save

Reimplemented from iCubMotor.

Reimplemented in iCubConfigurableHandPosToVelMotor, iCubHeadPosToVelMotor, iCubTorsoPosToVelMotor, and iCubArmPosToVelMotor.

Definition at line 782 of file icubmotors.cpp.

References ConfigurationParameters::createParameter(), iCubPosToVelMotor::getK(), iCubPosToVelMotor::getMaxVelocity(), iCubMotor::save(), and ConfigurationParameters::startObjectParameters().

Referenced by iCubArmPosToVelMotor::save(), iCubTorsoPosToVelMotor::save(), iCubHeadPosToVelMotor::save(), and iCubConfigurableHandPosToVelMotor::save().

void setK ( real  k )

inline

Sets the value of the gain (k) used by the proportional controller.

Parameters

k	the value of the gain used by the proportional controller

Definition at line 492 of file icubmotors.h.

void setMaxVelocity ( real  maxVelocity )

inline

Sets the maximum velocity used by the proportional controller.

Parameters

maxvelocity

the maximum velocity used by the proportional controller

Definition at line 514 of file icubmotors.h.

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The documentation for this class was generated from the following files:

• experiments/include/icubmotors.h
• experiments/src/icubmotors.cpp