The sensor reporting the actual velocity of the wheels of the MarXbot. More...

Inheritance diagram for MarXbotWheelSpeedsSensor:

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
	MarXbotWheelSpeedsSensor (ConfigurationParameters &params, QString prefix)
	Constructor. More...

virtual	~MarXbotWheelSpeedsSensor ()
	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 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 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 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 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 sensor reporting the actual velocity of the wheels of the MarXbot.

This sensor reads the actual velocity of the wheels of the MarXbot. 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 (MarXbotSensor), 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 1200 of file marxbotsensors.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 1206 of file marxbotsensors.h.

Constructor & Destructor Documentation

MarXbotWheelSpeedsSensor	(	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 1453 of file marxbotsensors.cpp.

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

~MarXbotWheelSpeedsSensor ( )

virtual

Destructor.

Definition at line 1464 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 1479 of file marxbotsensors.cpp.

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

QString modeToString ( Mode mode )

static

Returns the string representation of the given modality.

Parameters

mode	the modality to convert to string

Returns: the string representation of the modality

Definition at line 1423 of file marxbotsensors.cpp.

References MarXbotWheelSpeedsSensor::AbsoluteMode, and MarXbotWheelSpeedsSensor::DeltaMode.

Referenced by MarXbotWheelSpeedsSensor::save().

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 1469 of file marxbotsensors.cpp.

References ConfigurationParameters::createParameter(), MarXbotWheelSpeedsSensor::modeToString(), 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 1539 of file marxbotsensors.cpp.

MarXbotWheelSpeedsSensor::Mode stringToMode ( QString mode )

static

Converts the given string to a modality.

Parameters

s	the string to convert

Returns: the modality for the string. Returns UnknownMode if the string is not recognized

Definition at line 1438 of file marxbotsensors.cpp.

References MarXbotWheelSpeedsSensor::AbsoluteMode, and MarXbotWheelSpeedsSensor::DeltaMode.

void update ( )

virtual

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

Implements Sensor.

Definition at line 1489 of file marxbotsensors.cpp.

References MarXbotWheelSpeedsSensor::AbsoluteMode, NoisyDevice::applyNoise(), Sensor::checkAllNeededResourcesExist(), MarXbotWheelSpeedsSensor::DeltaMode, WheelMotorController::getDesiredSpeeds(), WheelMotorController::getSpeedLimits(), WheelMotorController::getSpeeds(), farsa::linearMap(), farsa::min(), Sensor::name(), NeuronsIterator::nextNeuron(), NeuronsIterator::setCurrentBlock(), NeuronsIterator::setInput(), farsa::throwUserRuntimeError(), and PhyMarXbot::wheelsController().

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

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

Experiments - 1.4.5

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation