AnimatLab  2
Test
AnimatSim::Environment::ContactSensor Class Reference

Contact sensor for detecting receptive field contacts. More...

#include <ContactSensor.h>

+ Inheritance diagram for AnimatSim::Environment::ContactSensor:
+ Collaboration diagram for AnimatSim::Environment::ContactSensor:

Public Member Functions

 ContactSensor ()
 Default constructor. More...
 
virtual ~ContactSensor ()
 Destructor. More...
 
virtual bool AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
 Adds a new object to this parent. More...
 
void ClearCurrents ()
 Clears the currents of ReceptiveFields. More...
 
GainCurrentGain ()
 Gets the Gain that calculates the current to apply to associated neurons using the modulated force of contact. More...
 
GainFieldGain ()
 Gets the field Gain that modulates the contact force based on its distance from the center of the receptive field. More...
 
int FindClosestReceptiveField (float fltX, float fltY, float fltZ)
 Searches for the first closest receptive field. More...
 
bool FindReceptiveField (float fltX, float fltY, float fltZ, int &iIndex)
 Searches for the first receptive field at the specified location. More...
 
void FinishedAddingVertices ()
 Called when we are finished adding vertices. This is used for debugging purposes. More...
 
ReceptiveFieldGetReceptiveField (int iIndex)
 Gets a receptive field based on its index in the array. More...
 
virtual void Load (CStdXml &oXml)
 
void ProcessContact (StdVector3 vPos, float fltForceMagnitude)
 Process a contact for all ReceptiveFields. More...
 
virtual bool RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
 Removes a child item from this parent. More...
 
- Public Member Functions inherited from AnimatSim::AnimatBase
 AnimatBase ()
 Constructs an AnimatBase object. More...
 
virtual ~AnimatBase ()
 Destroys the AnimatBase object.. More...
 
virtual void AfterResetSimulation ()
 Called after a simulation reset for some objects. More...
 
virtual long CalculateSnapshotByteSize ()
 Calculates the snapshot byte size. More...
 
virtual void Copy (CStdSerialize *lpSource)
 
virtual void Enabled (bool bVal)
 Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...
 
virtual bool Enabled ()
 Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...
 
virtual float * GetDataPointer (const std::string &strDataType)
 Returns a float pointer to a data item of interest in this object. More...
 
virtual NeuralModuleGetNeuralModule ()
 Gets the neural module. More...
 
virtual NodeGetNode ()
 Gets the node. More...
 
virtual SimulatorGetSimulator ()
 Gets the simulator pointer. More...
 
virtual StructureGetStructure ()
 Gets the structure for this node. More...
 
virtual bool HasProperty (const std::string &strName)
 Queries this object if it has a property with the given name. More...
 
virtual std::string ID ()
 Gets the unique GUID ID of this object. More...
 
virtual void ID (std::string strValue)
 Sets the unique GUID ID of the object. More...
 
virtual void Initialize ()
 Initializes this object. More...
 
virtual void Kill (bool bState=true)
 Kills. More...
 
virtual void Load (StdUtils::CStdXml &oXml)
 Loads the item using an XML data packet. More...
 
virtual void LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
 Loads a key frame snapshot. More...
 
virtual std::string Name ()
 Gets the name of this object. More...
 
virtual void Name (std::string strValue)
 Sets the name of the object. Blank is acceptable. More...
 
virtual AnimatPropertyType PropertyType (const std::string &strName)
 
virtual void QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
 Queries this object for a list of properties that can be changed using SetData. More...
 
virtual void ReInitialize ()
 Re-initialize this object. More...
 
virtual void Reset ()
 Resets this object. More...
 
virtual void ResetSimulation ()
 Resets the simulation back to time 0. More...
 
virtual void RigidBodyAdded (std::string strID)
 
virtual void RigidBodyRemoved (std::string strID)
 
virtual void SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
 Saves a key frame snapshot. More...
 
virtual bool Selected ()
 Tells if this items is selected or not. More...
 
virtual void Selected (bool bValue, bool bSelectMultiple)
 Selects this object. More...
 
virtual bool SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual bool SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual bool SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual void SetSystemPointers (Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify)
 Sets the system pointers. More...
 
virtual void SimPausing ()
 Called just before the simulation pauses. More...
 
virtual void SimStarting ()
 Called just before the simulation starts. More...
 
virtual void SimStopping ()
 Called just before the simulation stops. More...
 
virtual void StepSimulation ()
 Step the simulation for this object. More...
 
virtual void TimeStepModified ()
 Notification method that the time step modified has been modified. Objects should recalculate any slice times as needed. More...
 
virtual std::string Type ()
 returns the string type name of this object. More...
 
virtual void Type (std::string strValue)
 Sets the class type for this object. More...
 
virtual void VerifySystemPointers ()
 Verify that system pointers have been set correctly. More...
 
virtual void VisualSelectionModeChanged (int iNewMode)
 Visual selection mode changed. More...
 

Static Public Member Functions

static ContactSensorCastToDerived (AnimatBase *lpBase)
 

Protected Member Functions

virtual void AddReceptiveField (std::string strXml)
 
void DumpVertices (CStdPtrArray< ReceptiveField > &aryFields)
 Dumps the vertices to console. More...
 
bool FindReceptiveField (CStdPtrArray< ReceptiveField > &aryFields, float fltX, float fltY, float fltZ, int &iIndex)
 Searches for the first receptive field that is closes to the specified location. More...
 
virtual int FindReceptiveFieldListPos (std::string strID, bool bThrowError=true)
 
void LoadReceptiveField (CStdXml &oXml)
 Loads a receptive field. More...
 
virtual void RemoveReceptiveField (std::string strID, bool bThrowError=true)
 

Protected Attributes

CStdPtrArray< ReceptiveFieldm_aryFields
 The array of ReceptiveField objects.
 
float m_fltMaxForce
 The maximum force force that we can use when calculating the current.
 
Gain * m_lpCurrentGain
 The Gain that calculates the amount of current to apply to any associated neurons based on the modulated force value.
 
Gain * m_lpFieldGain
 The Gain function that modulates the force of contact based on the distance from the center of the ReceptiveField.
 
- Protected Attributes inherited from AnimatSim::AnimatBase
bool m_bEnabled
 Tells if this item is enabled or not. If it is not enabled then it is not run.
 
bool m_bSelected
 Tells whether the object is selected or not.
 
AnimatSim::Behavior::NeuralModulem_lpModule
 The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.
 
Nodem_lpNode
 The pointer to this items parent Node. If this is not relevant for this object then this is NULL.
 
Simulatorm_lpSim
 The pointer to a Simulation.
 
AnimatSim::Environment::Structurem_lpStructure
 The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.
 
std::string m_strID
 The unique Id for this object.
 
std::string m_strName
 The name for this object.
 
std::string m_strType
 The type for this object. Examples are Box, Plane, Neuron, etc..
 

Detailed Description

Contact sensor for detecting receptive field contacts.

Receptive fields can be defined over the surface of the body, and each one can be associated with one or more neurons. ContactSensor is used by the RigidBody part to manage the receptive fields and contacts. It contains the list of all receptive fields for that body part, and the other knowledge needed to convert a contact into a current within a neuron.

Author
dcofer
Date
3/22/2011

Definition at line 25 of file ContactSensor.h.

Constructor & Destructor Documentation

AnimatSim::Environment::ContactSensor::ContactSensor ( )

Default constructor.

Author
dcofer
Date
3/22/2011

Definition at line 49 of file ContactSensor.cpp.

References m_fltMaxForce, m_lpCurrentGain, and m_lpFieldGain.

AnimatSim::Environment::ContactSensor::~ContactSensor ( )
virtual

Destructor.

Author
dcofer
Date
3/22/2011

Definition at line 62 of file ContactSensor.cpp.

References m_aryFields, m_lpCurrentGain, m_lpFieldGain, and StdUtils::Std_TraceMsg().

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Member Function Documentation

bool AnimatSim::Environment::ContactSensor::AddItem ( const std::string &  strItemType,
const std::string &  strXml,
bool  bThrowError = true,
bool  bDoNotInit = false 
)
virtual

Adds a new object to this parent.

Generic method to add a new child item to this parent by specifying a string item type descriptor and an xml packet that can be used to load in the new object. The GUI uses this method to create new items that were added with the user interface. The item type lets the method determine what type of item is being created, like synapse, neuron, body part, etc.. It then gets the modulename, classname, and type from the xml and calls CreateObject to create the appropriate type of object. Then it passes in the xml packet to the new objects load method and does any needed initialization and adds it to the parent.

Author
dcofer
Date
2/22/2011
Parameters
strItemTypeString descriptor of the type of item that is being created.
strXmlXML packet that is used to create and load the new item.
bThrowErrorIf true then throw an error if there is a problem, otherwise return false.
Returns
true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 323 of file ContactSensor.cpp.

References StdUtils::Std_CheckString().

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void AnimatSim::Environment::ContactSensor::ClearCurrents ( )

Clears the currents of ReceptiveFields.

Author
dcofer
Date
3/22/2011

Definition at line 279 of file ContactSensor.cpp.

References m_aryFields.

Gain * AnimatSim::Environment::ContactSensor::CurrentGain ( )

Gets the Gain that calculates the current to apply to associated neurons using the modulated force of contact.

Author
dcofer
Date
3/22/2011
Returns
Gain pointer.

Definition at line 97 of file ContactSensor.cpp.

References m_lpCurrentGain.

void AnimatSim::Environment::ContactSensor::DumpVertices ( CStdPtrArray< ReceptiveField > &  aryFields)
protected

Dumps the vertices to console.

Author
dcofer
Date
3/22/2011
Parameters
[in,out]aryFieldsThe array of ReceptiveFields.

Definition at line 230 of file ContactSensor.cpp.

References StdUtils::Std_TraceMsg().

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Gain * AnimatSim::Environment::ContactSensor::FieldGain ( )

Gets the field Gain that modulates the contact force based on its distance from the center of the receptive field.

Author
dcofer
Date
3/22/2011
Returns
Gain pointer.

Definition at line 87 of file ContactSensor.cpp.

References m_lpFieldGain.

int AnimatSim::Environment::ContactSensor::FindClosestReceptiveField ( float  fltX,
float  fltY,
float  fltZ 
)

Searches for the first closest receptive field.

Author
dcofer
Date
3/22/2011
Parameters
fltXThe x coordinate.
fltYThe y coordinate.
fltZThe z coordinate.
Returns
The found closest receptive field.

Definition at line 168 of file ContactSensor.cpp.

References m_aryFields, and AnimatSim::Environment::ReceptiveField::m_vVertex.

bool AnimatSim::Environment::ContactSensor::FindReceptiveField ( CStdPtrArray< ReceptiveField > &  aryFields,
float  fltX,
float  fltY,
float  fltZ,
int &  iIndex 
)
protected

Searches for the first receptive field that is closes to the specified location.

Author
dcofer
Date
3/22/2011
Parameters
[in,out]aryFieldsThe array of ReceptiveFields to search.
fltXThe x coordinate.
fltYThe y coordinate.
fltZThe z coordinate.
[in,out]iIndexZero-based index of the found ReceptiveField.
Returns
true if a ReceptiveField is found, false otherwise.

Definition at line 130 of file ContactSensor.cpp.

Referenced by FindReceptiveField().

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bool AnimatSim::Environment::ContactSensor::FindReceptiveField ( float  fltX,
float  fltY,
float  fltZ,
int &  iIndex 
)

Searches for the first receptive field at the specified location.

Author
dcofer
Date
3/22/2011
Parameters
fltXThe x coordinate.
fltYThe y coordinate.
fltZThe z coordinate.
[in,out]iIndexZero-based index of the found receptive field.
Returns
true if it succeeds, false if it fails.

Definition at line 206 of file ContactSensor.cpp.

References FindReceptiveField(), and m_aryFields.

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void AnimatSim::Environment::ContactSensor::FinishedAddingVertices ( )

Called when we are finished adding vertices. This is used for debugging purposes.

Author
dcofer
Date
3/22/2011

Definition at line 217 of file ContactSensor.cpp.

ReceptiveField * AnimatSim::Environment::ContactSensor::GetReceptiveField ( int  iIndex)

Gets a receptive field based on its index in the array.

Author
dcofer
Date
3/22/2011
Parameters
iIndexZero-based index of the ReceptiveField array.
Returns
Pointer to the receptive field.
Exceptions
Exceptionis thrown if index is out of bounds.

Definition at line 110 of file ContactSensor.cpp.

References m_aryFields, and StdUtils::Std_InValidRange().

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void AnimatSim::Environment::ContactSensor::LoadReceptiveField ( CStdXml oXml)
protected

Loads a receptive field.

Author
dcofer
Date
3/22/2011
Parameters
[in,out]oXmlThe xml packet to load.

Definition at line 416 of file ContactSensor.cpp.

References m_aryFields, AnimatSim::AnimatBase::m_lpSim, AnimatSim::AnimatBase::m_lpStructure, and AnimatSim::AnimatBase::SetSystemPointers().

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void AnimatSim::Environment::ContactSensor::ProcessContact ( StdVector3  vPos,
float  fltForceMagnitude 
)

Process a contact for all ReceptiveFields.

Process contact of the ContactSensor detects the collisions and calculates the amount of current that needs to be added to a given receptive field. It is the contact adapter that actually

Author
dcofer
Date
3/22/2011
Parameters
vPosThe position of the contact in global cooridnates.
fltForceMagnitudeThe force magnitude.

Definition at line 299 of file ContactSensor.cpp.

References AnimatSim::Gains::Gain::CalculateGain(), AnimatSim::Simulator::DistanceUnits(), m_aryFields, AnimatSim::Environment::ReceptiveField::m_fltCurrent, m_lpCurrentGain, m_lpFieldGain, AnimatSim::AnimatBase::m_lpSim, and AnimatSim::Environment::ReceptiveField::m_vVertex.

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bool AnimatSim::Environment::ContactSensor::RemoveItem ( const std::string &  strItemType,
const std::string &  strID,
bool  bThrowError = true 
)
virtual

Removes a child item from this parent.

This is a generic method that is used to delete a child object from this parent. The GUI uses this method to remove objects from the simulation that have been deleted in the UI. The item type lets the method determine what type of item is being deleted, like synapse, neuron, body part, etc.. The ID is then used to delete that specific item.

Author
dcofer
Date
2/22/2011
Parameters
strItemTypeString descriptor of the type of item that is being created.
strIDUnique ID of the item that will be removed.
bThrowErrorIf true then throw an error if there is a problem, otherwise return false.
Returns
true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 340 of file ContactSensor.cpp.

References StdUtils::Std_CheckString().

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