KheperaWheelSpeedsSensor Class Reference

The sensor reporting the actual velocity of the wheels of the Khepera. More...

Inheritance diagram for KheperaWheelSpeedsSensor:

Public Types
enum	Mode { AbsoluteMode, DeltaMode, UnknownMode }
	The enum of different modalities for this sensor. More...

Public Member Functions
	KheperaWheelSpeedsSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~KheperaWheelSpeedsSensor ()
	Destructor.
virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves current parameters into the given ConfigurationParameters object.
virtual int	size ()
	Returns the number of neurons required by this sensor.
virtual void	update ()
	Performs the sensor update. This also modifies the activation of input neurons.
Public Member Functions inherited from KheperaSensor
	KheperaSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~KheperaSensor ()
	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	setName (QString name)
	Use this method for changing the name of the Sensor.
Public Member Functions inherited from NoisyDevice
	NoisyDevice (ConfigurationParameters &params, QString prefix)
	Constructor and Configure.
	~NoisyDevice ()
	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 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)
	Generates a description of this class and its parameters.
static QString	modeToString (Mode mode)
	Returns the string representation of the given modality.
static Mode	stringToMode (QString mode)
	Converts the given string to a modality.

Additional Inherited Members
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 KheperaSensor
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 KheperaSensor
QString	m_kheperaResource
	The name of the resource associated with the e-puck robot.
QString	m_neuronsIteratorResource
	The name of th resource associated with the neural network iterator.

Detailed Description

The sensor reporting the actual velocity of the wheels of the Khepera.

This sensor reads the actual velocity of the wheels of the Khepera. It can work in two modalities: absolute (the default), meaning that the senors returns the current velocity of the wheels (scaled between -1 and 1) and delta, meaning that the sensor returns the absolute value of the difference between the desired velocity and the current velocity. This sensor provides two values, one for each wheel. This sensor applies noise if requested

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

• mode: one of "Absolute" or "Delta" (see the general description for more information). The default is "Absolute"

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

Definition at line 542 of file kheperasensors.h.

Member Enumeration Documentation

enum Mode

The enum of different modalities for this sensor.

Enumerator:

AbsoluteMode	The sensor returns the current velocity of the wheels
DeltaMode	The sensor returns the absolute value of the difference between the desired and actual velocity of the wheels

Definition at line 548 of file kheperasensors.h.

Constructor & Destructor Documentation

KheperaWheelSpeedsSensor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Creates and configures the sensor

Parameters

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

Definition at line 588 of file kheperasensors.cpp.

References ConfigurationParameters::getValue(), and ConfigurationHelper::throwUserConfigError().

~KheperaWheelSpeedsSensor ( )

virtual

Destructor.

Definition at line 599 of file kheperasensors.cpp.

Member Function Documentation

void describe ( QString  type )

static

Generates a description of this class and its parameters.

Parameters

type	the string representation of this class name

Reimplemented from KheperaSensor.

Definition at line 614 of file kheperasensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::EnumDescriptor::def(), ParameterSettable::Descriptor::describeEnum(), ParameterSettable::EnumDescriptor::help(), and ParameterSettable::EnumDescriptor::values().

QString modeToString ( Mode  mode )

static

Returns the string representation of the given modality.

Parameters

mode	the modality to convert to string

Returns

the string representation of the modality

Definition at line 558 of file kheperasensors.cpp.

References KheperaWheelSpeedsSensor::AbsoluteMode, and KheperaWheelSpeedsSensor::DeltaMode.

Referenced by KheperaWheelSpeedsSensor::save().

void save ( ConfigurationParameters &  params, QString  prefix  )

virtual

Saves current parameters into the given ConfigurationParameters object.

Parameters

params	the ConfigurationParameters object in which parameters should be saved
prefix	the name and path of the group where to save parametrs

Reimplemented from KheperaSensor.

Definition at line 604 of file kheperasensors.cpp.

References ConfigurationParameters::createParameter(), KheperaWheelSpeedsSensor::modeToString(), and ConfigurationParameters::startObjectParameters().

int size ( )

virtual

Returns the number of neurons required by this sensor.

Returns

the number of neurons required by this sensor

Implements Sensor.

Definition at line 674 of file kheperasensors.cpp.

KheperaWheelSpeedsSensor::Mode stringToMode ( QString  mode )

static

Converts the given string to a modality.

Parameters

s	the string to convert

Returns

the modality for the string. Returns UnknownMode if the string is not recognized

Definition at line 573 of file kheperasensors.cpp.

References KheperaWheelSpeedsSensor::AbsoluteMode, and KheperaWheelSpeedsSensor::DeltaMode.

void update ( )

virtual

Performs the sensor update. This also modifies the activation of input neurons.

Implements Sensor.

Definition at line 624 of file kheperasensors.cpp.

References KheperaWheelSpeedsSensor::AbsoluteMode, NoisyDevice::applyNoise(), Sensor::checkAllNeededResourcesExist(), KheperaWheelSpeedsSensor::DeltaMode, WheelMotorController::getDesiredSpeeds(), WheelMotorController::getSpeedLimits(), WheelMotorController::getSpeeds(), farsa::linearMap(), farsa::min(), Sensor::name(), NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), farsa::throwUserRuntimeError(), and PhyKhepera::wheelsController().

---

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

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