It controls each torso joint (up to 2) in position by adjusting the joint's velocity with the proportional controller. More...

Inheritance diagram for iCubTorsoPosToVelMotor:

[legend]

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

	~iCubTorsoPosToVelMotor ()
	Destructor.

void	save (ConfigurationParameters &params, QString prefix)
	Save the parameters of the iCubTorsoPosToVelMotor into the ConfigurationParameters.

int	size ()
	Return the number of neurons from which the Motor will get the output: 7.

void	update ()
	Update the state of the Motor every time step.

Public Member Functions inherited from iCubPosToVelMotor
	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.

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.

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 iCubArmRandomMotor.

Static Public Member Functions inherited from iCubPosToVelMotor
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)

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

Protected Attributes
iCubRobot *	icub
	the icub to move

MultiMotorController *	icubMotors
	the motor controller for reading limits

bool	torsoDofs [3]
	the indication of which Dofs are enabled to move

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 controls each torso joint (up to 2) in position by adjusting the joint's velocity with the proportional controller.

Definition at line 570 of file icubmotors.h.

Constructor & Destructor Documentation

iCubTorsoPosToVelMotor	(	farsa::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 Motor

Definition at line 890 of file icubmotors.cpp.

References ConfigurationHelper::getBool(), iCubMotor::icubResource, iCubMotor::neuronsIteratorResource, iCubTorsoPosToVelMotor::torsoDofs, and ConcurrentResourcesUser::usableResources().

~iCubTorsoPosToVelMotor ( )

Destructor.

Definition at line 901 of file icubmotors.cpp.

Member Function Documentation

void describe ( QString type )

static

Describe all the parameter for configuring the iCubArmRandomMotor.

Definition at line 919 of file icubmotors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), iCubPosToVelMotor::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 iCubMotor.

Definition at line 957 of file icubmotors.cpp.

References iCubTorsoPosToVelMotor::icub, iCubTorsoPosToVelMotor::icubMotors, iCubMotor::icubResource, Logger::info(), Motor::name(), iCubMotor::neuronsIteratorResource, NeuronsIterator::nextNeuron(), iCubMotor::resourceChanged(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setGraphicProperties(), PhyiCub::torsoController(), and iCubTorsoPosToVelMotor::torsoDofs.