The base abstract class for the Motor hierarchy. More...

Inheritance diagram for Motor:

Public Member Functions
	Motor (ConfigurationParameters &params, QString prefix)
	Constructor and Configure. More...

	~Motor ()
	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...

virtual int	size ()=0
	Return the number of neurons from which the Motor will get the output. More...

virtual void	update ()=0
	Update the state of the Motor every time step; the actual behaviour is implemented in subclasses. 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)
	Describe all the parameter for configuring the Motor. 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)

Protected Member Functions
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 ()

virtual void	resourceChanged (QString name, ResourceChangeType changeType)

Protected Member Functions inherited from ResourcesUser
	ResourcesUser (const ResourcesUser &other)

virtual void	notifyResourceChange (ResourceHandler *resource, ResourceChangeType changeType)=0

ResourcesUser &	operator= (const ResourcesUser &other)

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

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 ResourcesUser
ResourceCollectionHolder	m_resources

Detailed Description

The base abstract class for the Motor hierarchy.

A Motor is an object that read data from the neural network and put that data into a resource converting it into the appropriate way. This class inherits from NoisyDevice, so you can apply noise using the applyNoise() function. In child class implement also the resourceChanged() function to get notified of resources creation/modification

Definition at line 272 of file neuroninterfaces.h.

Constructor & Destructor Documentation

Motor	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor and Configure.

Parameters

params	is the ConfigurationParameters containing the parameters
prefix	is the path prefix to the paramters for this Motor

Definition at line 190 of file neuroninterfaces.cpp.

References ConfigurationHelper::getString(), and Motor::setName().

~Motor ( )

Destructor.

Definition at line 198 of file neuroninterfaces.cpp.

Member Function Documentation

QString actualResourceNameForMultirobot ( QString resourceName ) const

protected

Returns the actual resource name to use.

This function mangles the name of the resource so that the correct name is used in case of multirobot setups. NOTE: use this only for resources that are robot-specific because the name is always mangled (no check is done to see if resourceName is already the name of an existing resource)

Definition at line 251 of file neuroninterfaces.cpp.

Referenced by EpuckMotor::EpuckMotor(), KheperaMotor::KheperaMotor(), and MarXbotMotor::MarXbotMotor().

void checkAllNeededResourcesExist ( )

protected

Checks whether all resources we need are existing and throws an exception if they aren't.

The result of the check is stored, so subsequent calls to this functions are quick (unless you call resetNeededResourcesCheck(), see that function description)

Definition at line 231 of file neuroninterfaces.cpp.

References ConfigurationHelper::throwUserMissingResourceError(), and ConcurrentResourcesUser::usedResourcesExist().

Referenced by FakeMotor::update(), MarXbotWheelVelocityMotor::update(), KheperaWheelVelocityMotor::update(), EpuckWheelVelocityMotor::update(), MarXbotWheelVelOrient::update(), MarXbotColorMotor::update(), and MarXbotAttachmentDeviceMotor::update().

void describe ( QString type )

static

Describe all the parameter for configuring the Motor.

Definition at line 214 of file neuroninterfaces.cpp.

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

Referenced by EpuckMotor::describe(), KheperaMotor::describe(), MarXbotMotor::describe(), and FakeMotor::describe().

QString name ( )

Return the name of the Sensor.

Typically, it is the name of the subclass

Definition at line 223 of file neuroninterfaces.cpp.

Referenced by FakeMotor::resourceChanged(), Motor::setName(), FakeMotor::update(), MarXbotWheelVelocityMotor::update(), KheperaWheelVelocityMotor::update(), EpuckWheelVelocityMotor::update(), MarXbotWheelVelOrient::update(), MarXbotColorMotor::update(), and MarXbotAttachmentDeviceMotor::update().

void resetNeededResourcesCheck ( )

protected

Resets the check on needed resources so that the next call to checkAllNeededResourcesExist() will perform the full check and not the quick one.

Call this if you get notified that a resource has been deleted so that we can check if it is available again when you need it

Definition at line 246 of file neuroninterfaces.cpp.

Referenced by EpuckMotor::resourceChanged(), KheperaMotor::resourceChanged(), MarXbotMotor::resourceChanged(), and FakeMotor::resourceChanged().

void save	(	ConfigurationParameters &	params,
		QString	prefix
	)

virtual

Save the parameters into the ConfigurationParameters.

Parameters

params	is the ConfigurationParameters where save the parameters
prefix	is the path prefix for the parameters to save

Reimplemented from NoisyDevice.

Definition at line 201 of file neuroninterfaces.cpp.

References ConfigurationParameters::createParameter(), NoisyDevice::save(), and ConfigurationParameters::startObjectParameters().

Referenced by EpuckMotor::save(), KheperaMotor::save(), MarXbotMotor::save(), and FakeMotor::save().

void setName ( QString name )

Use this method for changing the name of the Sensor.

Definition at line 227 of file neuroninterfaces.cpp.

References Motor::name().

Referenced by Motor::Motor().

virtual int size ( )

pure virtual

Return the number of neurons from which the Motor will get the output.

Warning: this method has to be called in any situation; when re-implement it does not rely on conditions/variables available only after the initilization because this method might be called before the Motor initialization

Implemented in MarXbotAttachmentDeviceMotor, MarXbotColorMotor, MarXbotWheelVelOrient, EpuckWheelVelocityMotor, KheperaWheelVelocityMotor, MarXbotWheelVelocityMotor, and FakeMotor.

virtual void update ( )

pure virtual

Update the state of the Motor every time step; the actual behaviour is implemented in subclasses.

Implemented in MarXbotAttachmentDeviceMotor, MarXbotColorMotor, MarXbotWheelVelOrient, EpuckWheelVelocityMotor, KheperaWheelVelocityMotor, MarXbotWheelVelocityMotor, and FakeMotor.

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

experiments/include/neuroninterfaces.h
experiments/src/neuroninterfaces.cpp

Experiments - 1.4.5

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation