ctu.nengoros.comm.rosBackend.encoders

Interface Encoder

All Superinterfaces:

Resettable

All Known Implementing Classes:

BasicEncoder

public interface Encoder
extends Resettable

Each Encoder is allowed to register one or more own Nengo Terminations. Encoder registers own Termination to own parent (NeuralModule). This means that NeuralModule is responsible for correct order of running the components: first run all the registered Terminations, then run all Encoders.

Encoder should:

• Register new ROS message publisher in the constructor. Here, the ROS topic on which are messages published equals to the name of Encoder.
.
• In each call of method run() collects input values on all own Terminations, encodes the result into the ROS message and publishes on the ROS topic.

Method Summary

Methods

Modifier and Type	Method and Description
int	getDimensions() Get dimensions of this encoder.
MultiTermination	getMultiTermination() Return own MultiTermination, this allows user to add new Terminations to it.
java.lang.String	getName() Return the name of Encoder, this name corresponds to ROS Topic on which the messages are published and is used to generate names for own Terminations.
NeuralModule	getParent() Get the parent of Encoder
void	run(float startTime, float endTime) Run encoder for a given time, that is Combine values on all my Terminations Encode the result into the ROS message Publish the ROS message on a topic which corresponds to the name of Encoder Note that parent NeuralModule is responsible for running all Terminations before running Encoders, so that Terminations contain new values while calling this method.

Methods inherited from interface ca.nengo.model.Resettable

reset

Method Detail

getParent

NeuralModule getParent()

Get the parent of Encoder

Returns:

my parent to whom I register my Terminations

getName

java.lang.String getName()

Return the name of Encoder, this name corresponds to ROS Topic on which the messages are published and is used to generate names for own Terminations.

Returns:

returns the name of Encoder

getDimensions

int getDimensions()

Get dimensions of this encoder.

Returns:

number of dimensions of my encoded input

run

void run(float startTime,
       float endTime)
         throws SimulationException

Run encoder for a given time, that is

• Combine values on all my Terminations
• Encode the result into the ROS message
• Publish the ROS message on a topic which corresponds to the name of Encoder

Note that parent NeuralModule is responsible for running all Terminations before running Encoders, so that Terminations contain new values while calling this method.

Parameters:

startTime -

endTime -

Throws:

SimulationException

getMultiTermination

MultiTermination getMultiTermination()
                                     throws StructuralException

Return own MultiTermination, this allows user to add new Terminations to it.

Returns:

MultiTermination if found

Throws:

StructuralException