iCubRobot Class Reference

The class modelling the iCub robot. More...

Inheritance diagram for iCubRobot:

Public Member Functions
	iCubRobot (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~iCubRobot ()
	Destructor.
virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves the actual status of parameters into the ConfigurationParameters object passed.
Public Member Functions inherited from Robot
	Robot (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~Robot ()
	Destructor.
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 PhyiCub
	PhyiCub (World *world, QString name, const wMatrix &tm=wMatrix::identity(), bool createServerControlBoards=true)
QColor	color () const
void	configurePosture (QMap< int, real > jointSetup)
const QVector< WMesh * > &	covers ()
void	doKinematicSimulation (bool k, bool clh=false, bool crh=false)
void	forceKinematicChainsUpdate (bool enable)
const QVector< PhyObject * > &	headNeck ()
MultiMotorController *	headNeckController ()
const QVector< PhyJoint * > &	headNeckJoints ()
bool	isInvisible ()
bool	isKinematic ()
const QVector< PhyObject * > &	leftArm ()
yarp::dev::ICartesianControl *	leftArmCartesianController ()
MultiMotorController *	leftArmController ()
const QVector< PhyJoint * > &	leftArmJoints ()
yarp::dev::IFrameGrabberImage *	leftEyeFrameGrabber ()
const QVector< PhyObject * > &	leftLeg ()
MultiMotorController *	leftLegController ()
const QVector< PhyJoint * > &	leftLegJoints ()
const wMatrix &	matrix () const
QString	name () const
	Ownable ()
const QList< Owned > &	owned () const
Ownable *	owner () const
yarp::dev::PolyDriver *	polydriver (QString name)
virtual void	postUpdate ()
virtual void	preUpdate ()
const QVector< PhyObject * > &	rightArm ()
yarp::dev::ICartesianControl *	rightArmCartesianController ()
MultiMotorController *	rightArmController ()
const QVector< PhyJoint * > &	rightArmJoints ()
yarp::dev::IFrameGrabberImage *	rightEyeFrameGrabber ()
const QVector< PhyObject * > &	rightLeg ()
MultiMotorController *	rightLegController ()
const QVector< PhyJoint * > &	rightLegJoints ()
void	setAlpha (int alpha)
void	setColor (QColor c)
void	setInvisible (bool b)
void	setMatrix (const wMatrix &newm)
void	setOwner (Ownable *owner, bool destroy=true)
void	setPosition (real x, real y, real z)
void	setPosition (const wVector &newpos)
void	setTexture (QString textureName)
void	setUseColorTextureOfOwner (bool b)
QString	texture () const
const QVector< PhyObject * > &	torso ()
MultiMotorController *	torsoController ()
const QVector< PhyJoint * > &	torsoJoints ()
bool	useColorTextureOfOwner () const
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
const World *	world () const
World *	world ()
	YarpObject (World *world, QString name, const wMatrix &tm=wMatrix::identity())
Public Member Functions inherited from YarpObject
	YarpObject (World *world, QString name, const wMatrix &tm=wMatrix::identity())
QColor	color () const
bool	isInvisible ()
const wMatrix &	matrix () const
QString	name () const
	Ownable ()
const QList< Owned > &	owned () const
Ownable *	owner () const
yarp::dev::PolyDriver *	polydriver (QString name)
void	setAlpha (int alpha)
void	setColor (QColor c)
void	setInvisible (bool b)
void	setMatrix (const wMatrix &newm)
void	setOwner (Ownable *owner, bool destroy=true)
void	setPosition (const wVector &newpos)
void	setPosition (real x, real y, real z)
void	setTexture (QString textureName)
void	setUseColorTextureOfOwner (bool b)
QString	texture () const
bool	useColorTextureOfOwner () const
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
World *	world ()
const World *	world () const
Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
QColor	color () const
bool	isInvisible ()
const wMatrix &	matrix () const
QString	name () const
	Ownable ()
const QList< Owned > &	owned () const
Ownable *	owner () const
void	setAlpha (int alpha)
void	setColor (QColor c)
void	setInvisible (bool b)
void	setMatrix (const wMatrix &newm)
void	setOwner (Ownable *owner, bool destroy=true)
void	setPosition (const wVector &newpos)
void	setPosition (real x, real y, real z)
void	setTexture (QString textureName)
void	setUseColorTextureOfOwner (bool b)
QString	texture () const
bool	useColorTextureOfOwner () const
World *	world ()
const World *	world () const
Public Member Functions inherited from Ownable
const QList< Owned > &	owned () const
Ownable *	owner () const
void	setOwner (Ownable *owner, bool destroy=true)

Static Public Member Functions
static void	describe (QString type)
	Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Additional Inherited Members
Public Types inherited from ParameterSettableInConstructor
enum	Property
Public Types inherited from YarpObject
typedef QList< Owned >	OwnedList
Public Slots inherited from PhyiCub
void	blockTorso0 (bool)
void	enableCameras (bool)
void	enableHead (bool)
void	enableLeftArm (bool)
void	enableLeftArmCartesianController ()
void	enableLeftKinematicHand (bool)
void	enableLeftLeg (bool)
void	enableRightArm (bool)
void	enableRightArmCartesianController ()
void	enableRightKinematicHand (bool)
void	enableRightLeg (bool)
void	enableTorso (bool)
bool	isBlockedTorso0 ()
bool	isEnabledCameras ()
bool	isEnabledHead ()
bool	isEnabledLeftArm ()
bool	isEnabledLeftKinematicHand ()
bool	isEnabledLeftLeg ()
bool	isEnabledRightArm ()
bool	isEnabledRightKinematicHand ()
bool	isEnabledRightLeg ()
bool	isEnabledTorso ()
Public Attributes inherited from ParameterSettableInConstructor
	AllowMultiple
	Default
	IsList
	IsMandatory
Public Attributes inherited from PhyiCub
enum farsa::PhyiCub:: { ... }	jointNames
Static Public Attributes inherited from ParameterSettableInConstructor
static const double	Infinity
static const int	MaxInteger
static const int	MinInteger
Protected Slots inherited from PhyiCub
void	leftEyeChangedDesiredPosition (real wishpos)
void	leftEyeChangedDesiredVelocity (real wishvel)
void	leftEyeChangedLimits (real lowlimit, real highlimit)
void	leftEyeChangedPosition (real newpos)
void	leftEyeChangedVelocity (real newvel)
void	rightEyeChangedDesiredPosition (real wishpos)
void	rightEyeChangedDesiredVelocity (real wishvel)
void	rightEyeChangedLimits (real lowlimit, real highlimit)
void	rightEyeChangedPosition (real newpos)
void	rightEyeChangedVelocity (real newvel)
void	vergenceChangedDesiredPosition (real wishpos)
void	vergenceChangedDesiredVelocity (real wishvel)
void	vergenceChangedLimits (real lowlimit, real highlimit)
void	vergenceChangedPosition (real newpos)
void	vergenceChangedVelocity (real newvel)
void	versionChangedDesiredPosition (real wishpos)
void	versionChangedDesiredVelocity (real wishvel)
void	versionChangedLimits (real lowlimit, real highlimit)
void	versionChangedPosition (real newpos)
void	versionChangedVelocity (real newvel)
Protected Member Functions inherited from ParameterSettableInConstructor
void	notifyChangesToParam (QString paramName)
Protected Member Functions inherited from PhyiCub
virtual void	changedMatrix ()
void	enableObjectsAndLinks (bool enable, QVector< PhyObject * > &objects, QVector< PhyJoint * > &joints)
void	registerServerControlBoard (yarp::dev::DeviceDriver *device, QString devicename)
void	registerServerFrameGrabber (yarp::dev::DeviceDriver *device, QString devicename)
void	removeServerControlBoard (QString devicename)
void	setTorso0Matrix ()
Static Protected Member Functions inherited from ParameterSettableInConstructor
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))
static void	setGraphicalEditor (QString type)
Static Protected Member Functions inherited from PhyiCub
static real	highEyeLimitFromVersionAndVergenceLimits (real versionHigh, real vergenceHigh)
static real	leftEyeFromVersionAndVergence (real version, real vergence)
static real	lowEyeLimitFromVersionAndVergenceLimits (real versionLow, real vergenceLow)
static real	rightEyeFromVersionAndVergence (real version, real vergence)
static real	vergenceFromRightAndLeftEye (real left, real right)
static real	versionFromRightAndLeftEye (real left, real right)
Protected Attributes inherited from PhyiCub
QColor	colorv
bool	invisible
QString	namev
QString	texturev
wMatrix	tm
bool	usecolortextureofowner
World *	worldv

Detailed Description

The class modelling the iCub robot.

This inherits from PhyiCub, so you can use all its methods

Definition at line 75 of file robots.h.

Constructor & Destructor Documentation

iCubRobot	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Parameters

params	the configuration parameters object with parameters to use
prefix	the prefix to use to access the object configuration parameters. This is guaranteed to end with the separator character when called by the factory, so you don't need to add one

Definition at line 92 of file robots.cpp.

References PhyiCub::blockTorso0(), PhyiCub::configurePosture(), PhyiCub::doKinematicSimulation(), PhyiCub::enableCameras(), PhyiCub::enableHead(), PhyiCub::enableLeftArm(), PhyiCub::enableLeftKinematicHand(), PhyiCub::enableLeftLeg(), PhyiCub::enableRightArm(), PhyiCub::enableRightKinematicHand(), PhyiCub::enableRightLeg(), PhyiCub::enableTorso(), ConfigurationHelper::getBool(), ConfigurationHelper::getDouble(), and ConfigurationHelper::hasParameter().

~iCubRobot ( )

virtual

Destructor.

Definition at line 431 of file robots.cpp.

Member Function Documentation

void describe ( QString  type )

static

Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Parameters

type

is the name of the type regarding the description. The type is used when a subclass reuse the description of its parent calling the parent describe method passing the type of the subclass. In this way, the result of the method describe of the parent will be the addition of the description of the parameters of the parent class into the type of the subclass

Definition at line 286 of file robots.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::StringDescriptor::def(), ParameterSettable::RealDescriptor::def(), ParameterSettable::BoolDescriptor::def(), ParameterSettableInConstructor::describe(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::Descriptor::describeString(), ParameterSettable::BoolDescriptor::help(), ParameterSettable::RealDescriptor::help(), and ParameterSettable::StringDescriptor::help().

void save ( ConfigurationParameters &  params, QString  prefix  )

virtual

Saves the actual status of parameters into the ConfigurationParameters object passed.

This is not implemented, calling this causes an abort

Parameters

params	the configuration parameters object on which save actual parameters
prefix	the prefix to use to access the object configuration parameters.

Implements ParameterSettableInConstructor.

Definition at line 280 of file robots.cpp.

References Logger::error().

---

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

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