MarXbotTractionSensor Class Reference

The traction sensors of the MarXbot. More...

Inheritance diagram for MarXbotTractionSensor:

Public Member Functions
	MarXbotTractionSensor (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~MarXbotTractionSensor ()
	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 traction sensors of the MarXbot.

The traction sensor of the MarXbot. This only works when in dynamic mode. The force is only sensed on the plane (x and y axes). This sensor has 4 neurons: one for positive force along the x axis, one for negative force along the x axis, one for positive force along the y axis and one for negative force along the y axis. This sensor applies noise if requested

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

• maxForce: the value of the force on one axis over which the corresponding neuron is activated with 1
• minForce: the value of the force on one axis under which the corresponding neuron is activated with 0
• drawSensor: if true the sensor is drawn with an arrow indicating the current direction of the force

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

Definition at line 791 of file marxbotsensors.h.

Constructor & Destructor Documentation

MarXbotTractionSensor	(	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 949 of file marxbotsensors.cpp.

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

~MarXbotTractionSensor ( )

virtual

Destructor.

Definition at line 966 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 983 of file marxbotsensors.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::RealDescriptor::def(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::BoolDescriptor::help(), ParameterSettable::RealDescriptor::help(), ParameterSettableInConstructor::Infinity, and ParameterSettable::RealDescriptor::limits().

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 971 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 1042 of file marxbotsensors.cpp.

void update ( )

virtual

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

Implements Sensor.

Definition at line 995 of file marxbotsensors.cpp.

References NoisyDevice::applyNoise(), Sensor::checkAllNeededResourcesExist(), farsa::linearMap(), Sensor::name(), NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), TractionSensorGraphic::setVector(), TractionSensorController::traction(), and PhyMarXbot::tractionSensorController().

---

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

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