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...

Gain *	CurrentGain ()
	Gets the Gain that calculates the current to apply to associated neurons using the modulated force of contact. More...

Gain *	FieldGain ()
	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...

ReceptiveField *	GetReceptiveField (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 NeuralModule *	GetNeuralModule ()
	Gets the neural module. More...

virtual Node *	GetNode ()
	Gets the node. More...

virtual Simulator *	GetSimulator ()
	Gets the simulator pointer. More...

virtual Structure *	GetStructure ()
	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 ContactSensor *	CastToDerived (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< ReceptiveField >	m_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::NeuralModule *	m_lpModule
	The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.

Node *	m_lpNode
	The pointer to this items parent Node. If this is not relevant for this object then this is NULL.

Simulator *	m_lpSim
	The pointer to a Simulation.

AnimatSim::Environment::Structure *	m_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

strItemType	String descriptor of the type of item that is being created.
strXml	XML packet that is used to create and load the new item.
bThrowError	If 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] aryFields The 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

fltX	The x coordinate.
fltY	The y coordinate.
fltZ	The 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]	aryFields	The array of ReceptiveFields to search.
	fltX	The x coordinate.
	fltY	The y coordinate.
	fltZ	The z coordinate.
[in,out]	iIndex	Zero-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

	fltX	The x coordinate.
	fltY	The y coordinate.
	fltZ	The z coordinate.
[in,out]	iIndex	Zero-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

iIndex Zero-based index of the ReceptiveField array.

Returns: Pointer to the receptive field.

Exceptions

Exception is 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] oXml The 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

vPos	The position of the contact in global cooridnates.
fltForceMagnitude	The 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

strItemType	String descriptor of the type of item that is being created.
strID	Unique ID of the item that will be removed.
bThrowError	If 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:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation