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 Types inherited from ParameterSettable
enum  Property
 
- Public Types inherited from ResourcesUser
typedef Resource::ResourceChangeType ResourceChangeType
 
- Public Types inherited from Resource
enum  ResourceChangeType
 

Public Member Functions

 KheperaWheelSpeedsSensor (ConfigurationParameters &params, QString prefix)
 Constructor. More...
 
virtual ~KheperaWheelSpeedsSensor ()
 Destructor. 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 KheperaSensor
 KheperaSensor (ConfigurationParameters &params, QString prefix)
 Constructor. More...
 
virtual ~KheperaSensor ()
 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 QString modeToString (Mode mode)
 Returns the string representation of the given modality. More...
 
static Mode stringToMode (QString mode)
 Converts the given string to a modality. More...
 
- Static Public Member Functions inherited from KheperaSensor
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 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 KheperaSensor
QString m_kheperaResource
 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 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
paramsthe ConfigurationParameters containing the parameters
prefixthe path prefix to the paramters for this Sensor

Definition at line 588 of file kheperasensors.cpp.

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

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
typethe string representation of this class name

Definition at line 614 of file kheperasensors.cpp.

References ParameterSettable::addTypeDescription(), and KheperaSensor::describe().

QString modeToString ( Mode  mode)
static

Returns the string representation of the given modality.

Parameters
modethe 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
paramsthe ConfigurationParameters object in which parameters should be saved
prefixthe 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(), KheperaSensor::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 674 of file kheperasensors.cpp.

KheperaWheelSpeedsSensor::Mode stringToMode ( QString  mode)
static

Converts the given string to a modality.

Parameters
sthe 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.


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