MarXbotLinearCameraSensorNew Class Reference

The linear camera sensor of the MarXbot (new implementation) More...

Inheritance diagram for MarXbotLinearCameraSensorNew:

Public Member Functions
	MarXbotLinearCameraSensorNew (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~MarXbotLinearCameraSensorNew ()
	Destructor.
const LinearCameraNew::LinearCamera *	getLinearCamera () const
	Returns a const pointer to the inner Linear camera object.
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 linear camera sensor of the MarXbot (new implementation)

This is a linear camera with configurable aperture (using the aperture parameter). The number of photoreceptors can be configured using the numReceptors parameter. An alternative way of specifying the number of receptors and their aperture is using the receptorsRanges parameter (see description). Note that if you set receptorsRanges you should not set the aperture or the numReceptors parameters and vice versa (an exception is thrown). Each receptor returns three values, one for each of the three colors (red, green, blue). You can decide whether to use all three colors or only part of them. This means that the size returned by this sensor is numReceptors * <num colors used>. The inputs for the controller are returned in the following order: first the values of all the red receptors, then the values for all the green receptors, finally the values for all the blue receptors. This sensor only works with objects created using the Arena instance. This sensor applies noise if requested

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

• numReceptors: the number of receptors of the sensor. Each receptor returns three values, one for each of the three colors (red, green, blue), but you can decide to ignore some colors (see the "useRedChannel", "useGreenChannel" and "useBlueChannel" parameters). This means that the size returned by this sensor is numReceptors * <num colors used> (default is 8)
• aperture: the aperture of the camera in degrees. The real MarXbot has an omnidirectional camera, so you can use here any value up to 360°
• maxDistance: the distance above which objects are not seen by the camera in meters
• receptorsRanges: the range for each receptor. This parameter is a comma separated list of ranges (in the form [start, end]), each range being the aperture of a single receptor. The number of receptors is equal to the number of ranges. The start and end angles of the range are in degrees. Note that if you specify this parameter you must not specify the aperture neither the numReceptors parameters.
• useRedChannel: whether the red component of the perceived objects should be used or not (default true)
• useGreenChannel: whether the green component of the perceived objects should be used or not (default true)
• useBlueChannel: whether the blue component of the perceived objects should be used or not (default true)
• drawCamera: whether to draw the camera or not

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

• arena: the instance of the Arena object where the robot lives

Definition at line 625 of file marxbotsensors.h.

Constructor & Destructor Documentation

MarXbotLinearCameraSensorNew	(	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 512 of file marxbotsensors.cpp.

References ConfigurationParameters::getValue(), ConfigurationHelper::throwUserConfigError(), farsa::toRad(), and SimpleInterval::vectorOfSimpleIntervalsFromString().

~MarXbotLinearCameraSensorNew ( )

virtual

Destructor.

Definition at line 561 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 583 of file marxbotsensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::RealDescriptor::def(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::IntDescriptor::def(), ParameterSettable::StringDescriptor::def(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeInt(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::Descriptor::describeString(), ParameterSettable::IntDescriptor::help(), ParameterSettable::BoolDescriptor::help(), ParameterSettable::RealDescriptor::help(), ParameterSettable::StringDescriptor::help(), ParameterSettableInConstructor::Infinity, ParameterSettable::RealDescriptor::limits(), ParameterSettable::IntDescriptor::limits(), and ParameterSettableInConstructor::MaxInteger.

const LinearCameraNew::LinearCamera* getLinearCamera ( ) const

inline

Returns a const pointer to the inner Linear camera object.

Returns

a const pointer to the inner Linear camera object

Definition at line 677 of file marxbotsensors.h.

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 567 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 630 of file marxbotsensors.cpp.

void update ( )

virtual

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

Implements Sensor.

Definition at line 600 of file marxbotsensors.cpp.

References NoisyDevice::applyNoise(), Sensor::checkAllNeededResourcesExist(), LinearCamera::colorForReceptor(), Sensor::name(), NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), and LinearCamera::update().

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

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