MarXbotAttachmentDeviceSensor Class Reference

The sensor providing the attachment device proprioception. More...

Inheritance diagram for MarXbotAttachmentDeviceSensor:

Public Member Functions
	MarXbotAttachmentDeviceSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~MarXbotAttachmentDeviceSensor ()
	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 MarXbotSensor
	MarXbotSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~MarXbotSensor ()
	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.

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 MarXbotSensor
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 MarXbotSensor
QString	m_marxbotResource
	The name of the resource associated with the MarXbot robot.
QString	m_neuronsIteratorResource
	The name of th resource associated with the neural network iterator.

Detailed Description

The sensor providing the attachment device proprioception.

This sensor provides information about the current status of the attachment device. It provides several inputs (which can be disabled using the parameters described below):

• the sin() of the current position of the attachment device (scaled between 0.0 and 1.0)
• the cos() of the current position of the attachment device (scaled between 0.0 and 1.0)
• the current status of the attachment device (0 means open, 0.5 half-closed and 1.0 closed)
• whether this robot is attached to another robot or not (i.e. the attachement device of this robot is attached to another robot)
• whether another robot is attached to this robot or not (i.e. the attachement device of the other robot is attached to this robot) The position of the gripper is provided using two neurons (the sin() and the cos() of the angle) to alleviate the problem of 0° and 360° being the same angle with opposite activations. This sensor never applies noise

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

• enablePosition: boolean value defining whether inputs with the position of the attachment device should be enabled or not (default: true)
• enableStatus: boolean value defining whether the input with the status of the attachment device should be enabled or not (default: true)
• enableAttached: boolean value defining whether the input telling if this robot is attached to another robot should be enabled or not (default: true)
• enableOtherAttached: boolean value defining whether the input telling if another robot is attached to this robot should be enabled or not (default: true)

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

Definition at line 1083 of file marxbotsensors.h.

Constructor & Destructor Documentation

MarXbotAttachmentDeviceSensor	(	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 1280 of file marxbotsensors.cpp.

~MarXbotAttachmentDeviceSensor ( )

virtual

Destructor.

Definition at line 1292 of file marxbotsensors.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 MarXbotSensor.

Definition at line 1310 of file marxbotsensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::Descriptor::describeBool(), and ParameterSettable::BoolDescriptor::help().

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 MarXbotSensor.

Definition at line 1297 of file marxbotsensors.cpp.

References ConfigurationParameters::createParameter(), 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 1375 of file marxbotsensors.cpp.

void update ( )

virtual

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

Implements Sensor.

Definition at line 1323 of file marxbotsensors.cpp.

References MarXbotAttachmentDeviceMotorController::attachedToRobot(), PhyMarXbot::attachmentDeviceController(), Sensor::checkAllNeededResourcesExist(), MarXbotAttachmentDeviceMotorController::getPosition(), MarXbotAttachmentDeviceMotorController::getStatus(), Sensor::name(), NeuronsIterator::nextNeuron(), MarXbotAttachmentDeviceMotorController::otherAttachedToUs(), NeuronsIterator::setCurrentBlock(), and NeuronsIterator::setInput().

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

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