MarXbotSampledProximityIRSensor Class Reference

The sampled proximity infrared sensors of the MarXbot. More...

Inheritance diagram for MarXbotSampledProximityIRSensor:

Public Member Functions
	MarXbotSampledProximityIRSensor (ConfigurationParameters &params, QString prefix)
	Constructor. More...
virtual	~MarXbotSampledProximityIRSensor ()
	Destructor. More...
const QVector< bool > &	getActiveSensors () const
int	getAverageNum () const
int	getNumActiveSensors () const
const SampledIRDataLoader &	getRoundSamples () const
const SampledIRDataLoader &	getSmallSamples () const
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 MarXbotSensor
	MarXbotSensor (ConfigurationParameters &params, QString prefix)
	Constructor. More...
virtual	~MarXbotSensor ()
	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)
T	getRuntimeParameter (QString paramName)
virtual ParameterSettableUI *	getUIManager ()
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 MarXbotSensor
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
ResourcesUser &	operator= (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 MarXbotSensor
QString	m_marxbotResource
	The name of the resource associated with the MarXbot 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 sampled proximity infrared sensors of the MarXbot.

The sampled proximity infrared sensors of the MarXbot. This version of the infrared proximity sensors is based on data sampled from the real robot. It is fast but only works with objects created using the Arena. This sensor applies noise if requested

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

• activeSensors: Which IR sensors of the robot are actually enabled. This is a string of exactly 24 elements. Each element can be either "0" or "1" to respectively disable/enable the corresponding proximity IR sensor. The first sensor is the one on the left side of the robot and the others follow counterclockwise (i.e. left, back, right, front). If averageNum is not zero, this parameter is ignored.
• averageNum: how many sensors should be averaged. This can only be 0, 2, 3, 4 or 6. If 2, for each couple of consecutive sensors the average is returned, if 3 for each triplet of consecutive sensors the average is returned and so on. If this is zero, no average is computed and the activeSensors parameter is used. The default value is 0
• roundSamples: the file with samples for big round objects
• smallSamples: the file with samples for small round objects
• wallSamples: the file with samples for walls

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 913 of file marxbotsensors.h.

Constructor & Destructor Documentation

MarXbotSampledProximityIRSensor	(	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 1083 of file marxbotsensors.cpp.

References ConcurrentResourcesUser::addUsableResource(), SampledIRDataLoader::filename(), ConfigurationParameters::getValue(), SampledIRDataLoader::numIR(), and ConfigurationHelper::throwUserConfigError().

~MarXbotSampledProximityIRSensor ( )

virtual

Destructor.

Definition at line 1118 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

Definition at line 1141 of file marxbotsensors.cpp.

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

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 1123 of file marxbotsensors.cpp.

References ConfigurationParameters::createParameter(), SampledIRDataLoader::filename(), MarXbotSensor::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 1235 of file marxbotsensors.cpp.

void update ( )

virtual

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

Implements Sensor.

Definition at line 1155 of file marxbotsensors.cpp.

References NoisyDevice::applyNoise(), Sensor::checkAllNeededResourcesExist(), PhyObject2DWrapper::computeDistanceAndOrientationFromRobot(), SampledIRDataLoader::getActivation(), Arena::getObjects(), Arena::getRobotWrapper(), MarXbotSensor::m_marxbotResource, farsa::min(), Sensor::name(), NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), and PhyObject2DWrapper::type().

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

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