EpuckLinearCameraSensor Class Reference

The linear camera sensor of the e-puck. More...

Inheritance diagram for EpuckLinearCameraSensor:

Public Member Functions

 EpuckLinearCameraSensor (ConfigurationParameters &params, QString prefix)
 Constructor. More...
 
virtual ~EpuckLinearCameraSensor ()
 Destructor. More...
 
const LinearCameragetCamera () const
 Returns the camera sensor used internally. More...
 
int getNumReceptors () const
 Returns the number of receptors of the camera. More...
 
virtual void save (ConfigurationParameters &params, QString prefix)
 Saves current parameters into the given ConfigurationParameters object. More...
 
virtual int size ()
 Returns the number of neurons required by this sensor. More...
 
virtual void update ()
 Performs the sensor update. This also modifies the activation of input neurons. More...
 
- Public Member Functions inherited from EpuckSensor
 EpuckSensor (ConfigurationParameters &params, QString prefix)
 Constructor. More...
 
virtual ~EpuckSensor ()
 Destructor. More...
 
- Public Member Functions inherited from Sensor
 Sensor (ConfigurationParameters &params, QString prefix)
 Constructor and Configure. More...
 
 ~Sensor ()
 Destructor. More...
 
QString name ()
 Return the name of the Sensor. More...
 
void save (ConfigurationParameters &params, QString prefix)
 Save the parameters into the ConfigurationParameters. More...
 
void setName (QString name)
 Use this method for changing the name of the Sensor. More...
 
- Public Member Functions inherited from NoisyDevice
 NoisyDevice (ConfigurationParameters &params, QString prefix)
 Constructor and Configure. More...
 
 ~NoisyDevice ()
 Destructor. More...
 
- Public Member Functions inherited from ParameterSettableInConstructor
 ParameterSettableInConstructor (ConfigurationParameters &, QString)
 
- Public Member Functions inherited from ParameterSettable
void addObserver (RuntimeParameterObserver *obs)
 
getRuntimeParameter (QString paramName)
 
virtual ParameterSettableUIgetUIManager ()
 
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. More...
 
- Static Public Member Functions inherited from EpuckSensor
static void describe (QString type)
 Describes all the parameters for this sensor. More...
 
- Static Public Member Functions inherited from Sensor
static void describe (QString type)
 Describe all the parameter for configuring the Sensor. More...
 
- Static Public Member Functions inherited from NoisyDevice
static void describe (QString type)
 Describe all the parameter for configuring the Sensor. More...
 
- 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)
 

Additional Inherited Members

- Public Types inherited from ParameterSettable
enum  Property
 
- Public Types inherited from ResourcesUser
typedef Resource::ResourceChangeType ResourceChangeType
 
- Public Types inherited from Resource
enum  ResourceChangeType
 
- Public Attributes inherited from ParameterSettable
 AllowMultiple
 
 Default
 
 IsList
 
 IsMandatory
 
- Static Public Attributes inherited from ParameterSettable
static const double Infinity
 
static const int MaxInteger
 
static const int MinInteger
 
- Protected Member Functions inherited from Sensor
QString actualResourceNameForMultirobot (QString resourceName) const
 Returns the actual resource name to use. More...
 
void checkAllNeededResourcesExist ()
 Checks whether all resources we need are existing and throws an exception if they aren't. More...
 
void resetNeededResourcesCheck ()
 Resets the check on needed resources so that the next call to checkAllNeededResourcesExist() will perform the full check and not the quick one. More...
 
- Protected Member Functions inherited from NoisyDevice
double applyNoise (double v, double minValue, double maxValue) const
 Adds noise to the value. More...
 
- Protected Member Functions inherited from ParameterSettable
void notifyChangesToParam (QString paramName)
 
- Protected Member Functions inherited from ConcurrentResourcesUser
T * getResource ()
 
- Protected Member Functions inherited from ResourcesUser
 ResourcesUser (const ResourcesUser &other)
 
virtual void notifyResourceChange (ResourceHandler *resource, ResourceChangeType changeType)=0
 
ResourcesUseroperator= (const ResourcesUser &other)
 
- Static Protected Member Functions inherited from ParameterSettable
static Descriptor addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))
 
static void setGraphicalEditor (QString type)
 
- Protected Attributes inherited from EpuckSensor
QString m_epuckResource
 The name of the resource associated with the e-puck robot. More...
 
QString m_neuronsIteratorResource
 The name of th resource associated with the neural network iterator. More...
 
- Protected Attributes inherited from ResourcesUser
ResourceCollectionHolder m_resources
 

Detailed Description

The linear camera sensor of the e-puck.

This is a linear camera with configurable aperture (using the aperture parameter). The number of photoreceptors can be configured using the numReceptors parameter. Each receptor returns three values, one for each of the three colors (red, green, blue). This means that the size returned by this sensor is 3 * numReceptors. 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 (EpuckSensor), 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). This means that the size returned by this sensor is 3 * numReceptors (default is 8)
  • aperture: the aperture of the camera in degrees. The real e-puck has a camera with an aperture of 36°, but here you can use any value up to 360°
  • drawCamera: whether to draw the camera on the robot or not (default is true)
  • ignoreWalls: whether to perceive walls or not (default is false)

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 318 of file epucksensors.h.

Constructor & Destructor Documentation

EpuckLinearCameraSensor ( ConfigurationParameters params,
QString  prefix 
)

Constructor.

Creates and configures the sensor

Parameters
paramsthe ConfigurationParameters containing the parameters
prefixthe path prefix to the paramters for this Sensor

Definition at line 245 of file epucksensors.cpp.

Destructor.

Definition at line 257 of file epucksensors.cpp.

Member Function Documentation

void describe ( QString  type)
static

Generates a description of this class and its parameters.

Parameters
typethe string representation of this class name

Definition at line 276 of file epucksensors.cpp.

References ParameterSettable::addTypeDescription(), EpuckSensor::describe(), and ParameterSettable::MaxInteger.

const LinearCamera* getCamera ( ) const
inline

Returns the camera sensor used internally.

Returns
the camera sensor used internally

Definition at line 380 of file epucksensors.h.

int getNumReceptors ( ) const
inline

Returns the number of receptors of the camera.

Returns
the number of receptors of the camera

Definition at line 370 of file epucksensors.h.

void save ( ConfigurationParameters params,
QString  prefix 
)
virtual

Saves current parameters into the given ConfigurationParameters object.

Parameters
paramsthe ConfigurationParameters object in which parameters should be saved
prefixthe name and path of the group where to save parametrs

Reimplemented from EpuckSensor.

Definition at line 263 of file epucksensors.cpp.

References ConfigurationParameters::createParameter(), EpuckSensor::save(), 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 313 of file epucksensors.cpp.

void update ( )
virtual

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