Provide a compact way to access the iCub functionalities within the icub-client framework. More...

Collaboration diagram for Clients:

Classes
class	icubclient::ICubClient
	Grants access to high level motor commands (grasp, touch, look, goto, etc) of the robot as well as its internal state (drives, emotions, beliefs) and its interaction means (speech). More...

class	icubclient::OPCClient
	An OPC client using the datastructures defined within the icub-client library. More...

Detailed Description

Provide a compact way to access the iCub functionalities within the icub-client framework.

Class Documentation

◆ icubclient::ICubClient

class icubclient::ICubClient

Grants access to high level motor commands (grasp, touch, look, goto, etc) of the robot as well as its internal state (drives, emotions, beliefs) and its interaction means (speech).

Definition at line 66 of file icubClient.h.

Public Member Functions
template<class T >
T *	getSubSystem (const std::string &subSystemName)

template<class T >
T *	getSubSystem (T)
	get a subsystem by just providing the type untested, just to play around with C++11 More...

SubSystem_agentDetector *	getAgentDetectorClient ()

SubSystem_ARE *	getARE ()

SubSystem_babbling *	getBabblingClient ()

SubSystem_IOL2OPC *	getIOL2OPCClient ()

SubSystem_KARMA *	getKARMA ()

SubSystem_Recog *	getRecogClient ()

SubSystem_Speech *	getSpeechClient ()

SubSystem_SAM *	getSAMClient ()

SubSystem_emotion *	getEmotionClient ()

	ICubClient (const std::string &moduleName, const std::string &context="icubClient", const std::string &clientConfigFile="client.ini", bool isRFVerbose=false)
	Create an iCub client. More...

bool	connect (const std::string &opcName="OPC")
	Try to connect all functionalities. More...

bool	connectOPC (const std::string &opcName="OPC")
	Try to connect to OPC. More...

bool	connectSubSystems ()
	Try to connect to all sub-systems. More...

void	updateAgent ()
	Retrieve fresh definition of the iCub agent from the OPC. More...

void	commitAgent ()
	Commit the local definition of iCub agent to the OPC. More...

bool	home (const std::string &part="all")
	Go in home position. More...

bool	release (const std::string &oLocation, const yarp::os::Bottle &options=yarp::os::Bottle())
	Release the hand-held object on a given location. More...

bool	release (const yarp::sig::VectorOf< double > &target, const yarp::os::Bottle &options=yarp::os::Bottle())
	Release the hand-held object on a given location. More...

bool	point (const yarp::sig::VectorOf< double > &target, const yarp::os::Bottle &options=yarp::os::Bottle())
	Point at a specified location from the iCub. More...

bool	point (const double x, const double y, const double z, const yarp::os::Bottle &options=yarp::os::Bottle())

bool	point (const std::string &oLocation, const yarp::os::Bottle &options=yarp::os::Bottle())
	Point at a specified location. More...

bool	waving (const bool sw)
	Enable/disable arms waving. More...

bool	push (const std::string &oLocation, const yarp::os::Bottle &options=yarp::os::Bottle())
	Push at a specified location. More...

bool	take (const std::string &oName, const yarp::os::Bottle &options=yarp::os::Bottle())
	Take (grasp) an object. More...

bool	pushKarmaLeft (const std::string &objName, const double &targetPosYLeft, const std::string &armType="selectable", const yarp::os::Bottle &options=yarp::os::Bottle())
	pushKarmaLeft: push an object by name to left side See the SubSystem_KARMA::pushAside documentation for more details. More...

bool	pushKarmaRight (const std::string &objName, const double &targetPosYRight, const std::string &armType="selectable", const yarp::os::Bottle &options=yarp::os::Bottle())
	pushKarmaRight: push an object by name to right side See the SubSystem_KARMA::pushAside documentation for more details. More...

bool	pushKarmaFront (const std::string &objName, const double &targetPosXFront, const std::string &armType="selectable", const yarp::os::Bottle &options=yarp::os::Bottle())
	pushKarmaFront: push an object by name to front See the SubSystem_KARMA::pushFront documentation for more details. More...

bool	pullKarmaBack (const std::string &objName, const double &targetPosXBack, const std::string &armType="selectable", const yarp::os::Bottle &options=yarp::os::Bottle())
	pullKarmaBack: pull an object by name back See the SubSystem_KARMA::pullBack documentation for more details. More...

bool	pushKarma (const yarp::sig::VectorOf< double > &targetCenter, const double &theta, const double &radius, const yarp::os::Bottle &options=yarp::os::Bottle())
	pushKarma (KARMA): push to certain position, along a direction See the SubSystem_KARMA::push documentation for more details. More...

bool	drawKarma (const yarp::sig::VectorOf< double > &targetCenter, const double &theta, const double &radius, const double &dist, const yarp::os::Bottle &options=yarp::os::Bottle())
	drawKarma (KARMA): draw action, along the positive direction of the x-axis (in robot FoR) See the SubSystem_KARMA::draw documentation for more details. More...

bool	look (const std::string &target, const yarp::os::Bottle &options=yarp::os::Bottle())
	Look at a specified target object. More...

bool	look (const yarp::sig::VectorOf< double > &target, const yarp::os::Bottle &options=yarp::os::Bottle())
	Look at a specified target location. More...

bool	lookAtPartner ()
	Looks at the agent if present in the scene. More...

bool	lookAtBodypart (const std::string &sBodypartName)
	Looks at the agent specific bodypart if present in the scene. More...

std::string	getPartnerName (bool verbose=true)
	Extract the name of the agent interaction with the iCub (present, not iCub nor 'unnamed' partner) More...

yarp::sig::VectorOf< double >	getPartnerBodypartLoc (std::string sBodypartName)
	Extract the location of the bodypart name of the partner. More...

bool	babbling (int jointNumber, const std::string &babblingArm, double train_dur=-1.0)
	Babbling using a single joint. More...

bool	babbling (const std::string &bpName, const std::string &babblingArm, double train_dur=-1.0)
	Babbling with a single joint using the name of a corresponding bodypart See the SubSystem_babbling::babbling documentation for more details. More...

bool	say (const std::string &text, bool shouldWait=true)
	Ask the robot to perform speech synthesis of a given sentence. More...

bool	changeName (Entity *e, const std::string &newName)
	Change the name of a given entity. More...

std::tuple< std::string, double >	getHighestEmotion ()
	Get the strongest emotion. More...

std::list< Action * >	getKnownActions ()
	Get the list of actions known the iCub. More...

std::list< Object * >	getObjectsInSight ()
	Get the list of object that are in front of the iCub Warning: this will update the local icubAgent. More...

std::list< Object * >	getObjectsInRange ()
	Get the list of objects that are graspable by the iCub See isTargetInRange() for a definition of how an object is defined to be in range Warning: this will update the local icubAgent. More...

bool	isTargetInRange (const yarp::sig::VectorOf< double > &target) const
	Check if a given cartesian position is within the reach of the robot This can be adjusted using the reachingRangeMin and reachingRangeMax parameters in the configuration file (client.ini) More...

void	close ()
	Properly closes all ports which were opened. More...

virtual	~ICubClient ()
	Destructor. More...

Public Attributes
OPCClient *	opc

Agent *	icubAgent

Protected Attributes
std::map< std::string, SubSystem * >	subSystems

bool	closed

std::list< Action * >	actionsKnown

double	xRangeMin

double	yRangeMin

double	zRangeMin

double	xRangeMax

double	yRangeMax

double	zRangeMax

std::string	robot

Constructor & Destructor Documentation

◆ ICubClient()

ICubClient::ICubClient	(	const std::string &	moduleName,
		const std::string &	context = `"icubClient"`,
		const std::string &	clientConfigFile = `"client.ini"`,
		bool	isRFVerbose = `false`
	)

Create an iCub client.

Parameters

moduleName	The port namespace that will precede the client ports names.
context	The yarp context to be used.
clientConfigFile	The yarp config file to be used.
isRFVerbose	Whether the yarp resource finder should be verbose

Definition at line 37 of file icubClient.cpp.

◆ ~ICubClient()

ICubClient::~ICubClient ( )

virtual

Destructor.

Definition at line 161 of file icubClient.cpp.

Member Function Documentation

◆ babbling() [1/2]

bool ICubClient::babbling	(	int	jointNumber,
		const std::string &	babblingArm,
		double	train_dur = `-1.0`
	)

Babbling using a single joint.

See the SubSystem_babbling::babbling documentation for more details.

Parameters

jointNumber	contains the int corresponding to an arm joint
babblingArm	contains the string corresponding to the side of the arm used ("left" or "right")
train_dur	set the babbling time, if "-1" use default time

Returns: true in case of success release, false otherwise

Definition at line 344 of file icubClient.cpp.

◆ babbling() [2/2]

bool ICubClient::babbling	(	const std::string &	bpName,
		const std::string &	babblingArm,
		double	train_dur = `-1.0`
	)

Babbling with a single joint using the name of a corresponding bodypart See the SubSystem_babbling::babbling documentation for more details.

Parameters

bpName	contains the string with the name of the bodypart
babblingArm	contains the string corresponding to the side of the arm used ("left" or "right")
train_dur	set the babbling time, if "-1" use default time

Returns: true in case of success release, false otherwise (bodypart non existing, no joint number assigned, etc.).

Definition at line 312 of file icubClient.cpp.

◆ changeName()

bool ICubClient::changeName	(	Entity *	e,
		const std::string &	newName
	)

Change the name of a given entity.

Parameters

e	- the entity whose name should be changed
newName	- the new name of the entity

Returns: true in case the name was changed, false otherwise

Definition at line 183 of file icubClient.cpp.

◆ close()

void ICubClient::close ( )

Properly closes all ports which were opened.

This is being called automatically in the destructor, there is typically no need to call this manually.

Definition at line 140 of file icubClient.cpp.

◆ commitAgent()

void ICubClient::commitAgent ( )

Commit the local definition of iCub agent to the OPC.

Definition at line 245 of file icubClient.cpp.

◆ connect()

bool ICubClient::connect ( const std::string & opcName = "OPC" )

Try to connect all functionalities.

Parameters

opcName the stem-name of the OPC server.

Returns: true in case of success false if some connections are missing.

Definition at line 132 of file icubClient.cpp.

◆ connectOPC()

bool ICubClient::connectOPC ( const std::string & opcName = "OPC" )

Try to connect to OPC.

Parameters

opcName the stem-name of the OPC server.

Returns: true on success.

Definition at line 107 of file icubClient.cpp.

◆ connectSubSystems()

bool ICubClient::connectSubSystems ( )

Try to connect to all sub-systems.

Returns: true on success.

Definition at line 117 of file icubClient.cpp.

◆ drawKarma()

bool ICubClient::drawKarma	(	const yarp::sig::VectorOf< double > &	targetCenter,
		const double &	theta,
		const double &	radius,
		const double &	dist,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

drawKarma (KARMA): draw action, along the positive direction of the x-axis (in robot FoR) See the SubSystem_KARMA::draw documentation for more details.

Parameters

targetCenter	center of a circle
theta	angle between the y-axis (in robot FoR) and starting position of draw action.
radius	radius of the circle with center at

See also: targetCenter

Parameters

dist	moving distance of draw action
options	options to be passed to Karma

Returns: true in case of success release, false otherwise

Definition at line 199 of file icubClient_KARMArelated.cpp.

◆ getAgentDetectorClient()

SubSystem_agentDetector * ICubClient::getAgentDetectorClient ( )

Definition at line 454 of file icubClient.cpp.

◆ getARE()

SubSystem_ARE * ICubClient::getARE ( )

Definition at line 474 of file icubClient.cpp.

◆ getBabblingClient()

SubSystem_babbling * ICubClient::getBabblingClient ( )

Definition at line 459 of file icubClient.cpp.

◆ getEmotionClient()

SubSystem_emotion * ICubClient::getEmotionClient ( )

Definition at line 501 of file icubClient.cpp.

◆ getHighestEmotion()

std::tuple< std::string, double > ICubClient::getHighestEmotion ( )

Get the strongest emotion.

Returns: tuple with name of emotion and intensity of emotion as items

Definition at line 354 of file icubClient.cpp.

◆ getIOL2OPCClient()

SubSystem_IOL2OPC * ICubClient::getIOL2OPCClient ( )

Definition at line 464 of file icubClient.cpp.

◆ getKARMA()

SubSystem_KARMA * ICubClient::getKARMA ( )

Definition at line 479 of file icubClient.cpp.

◆ getKnownActions()

list< Action * > ICubClient::getKnownActions ( )

Get the list of actions known the iCub.

Returns: list of pointers to actions

Definition at line 387 of file icubClient.cpp.

◆ getObjectsInRange()

list< Object * > ICubClient::getObjectsInRange ( )

Get the list of objects that are graspable by the iCub See isTargetInRange() for a definition of how an object is defined to be in range Warning: this will update the local icubAgent.

Definition at line 422 of file icubClient.cpp.

◆ getObjectsInSight()

list< Object * > ICubClient::getObjectsInSight ( )

Get the list of object that are in front of the iCub Warning: this will update the local icubAgent.

Returns: list of pointers to objects which are front of the iCub (x<0.0)

Definition at line 399 of file icubClient.cpp.

◆ getPartnerBodypartLoc()

yarp::sig::VectorOf< double > ICubClient::getPartnerBodypartLoc ( std::string sBodypartName )

Extract the location of the bodypart name of the partner.

Parameters

sBodypartName is the name of the bodypart (kinect skeleton node) to be looked at

Returns: vLoc, the vector of the bodypart localisation

Definition at line 274 of file icubClient.cpp.

◆ getPartnerName()

std::string ICubClient::getPartnerName ( bool verbose = true )

Extract the name of the agent interaction with the iCub (present, not iCub nor 'unnamed' partner)

Parameters

verbose - whether a yInfo output should happen if the partner is found

Returns: string: the name of the agent

Definition at line 251 of file icubClient.cpp.

◆ getRecogClient()

SubSystem_Recog * ICubClient::getRecogClient ( )

Definition at line 469 of file icubClient.cpp.

◆ getSAMClient()

SubSystem_SAM * ICubClient::getSAMClient ( )

Definition at line 496 of file icubClient.cpp.

◆ getSpeechClient()

SubSystem_Speech * ICubClient::getSpeechClient ( )

Definition at line 484 of file icubClient.cpp.

◆ getSubSystem() [1/2]

template<class T >

T* icubclient::ICubClient::getSubSystem ( const std::string & subSystemName )

inline

Definition at line 81 of file icubClient.h.

◆ getSubSystem() [2/2]

template<class T >

T* icubclient::ICubClient::getSubSystem ( T )

inline

get a subsystem by just providing the type untested, just to play around with C++11

Definition at line 93 of file icubClient.h.

◆ home()

bool ICubClient::home ( const std::string & part = "all" )

Go in home position.

See the SubSystem_ARE::home documentation for more details.

Parameters

part	the part to be homed ("gaze", "head", "arms", "fingers", "all"; "all" by default).

Returns: true in case of successful motor command, false otherwise (e.g. wrong part name)

Definition at line 27 of file icubClient_ARErelated.cpp.

◆ isTargetInRange()

bool ICubClient::isTargetInRange ( const yarp::sig::VectorOf< double > & target ) const

Check if a given cartesian position is within the reach of the robot This can be adjusted using the reachingRangeMin and reachingRangeMax parameters in the configuration file (client.ini)

Definition at line 444 of file icubClient.cpp.

◆ look() [1/2]

bool ICubClient::look	(	const std::string &	target,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Look at a specified target object.

See the subSystem_ARE::look documentation for more details.

Parameters

target	is the name of the entity in the OPC where the robot should look.
options	contains options to be passed on the gaze controller.

Definition at line 162 of file icubClient_ARErelated.cpp.

◆ look() [2/2]

bool ICubClient::look	(	const yarp::sig::VectorOf< double > &	target,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Look at a specified target location.

See the subSystem_ARE::look documentation for more details.

Parameters

target	is a vector where the robot should look.
options	contains options to be passed on the gaze controller.

Definition at line 178 of file icubClient_ARErelated.cpp.

◆ lookAtBodypart()

bool ICubClient::lookAtBodypart ( const std::string & sBodypartName )

Looks at the agent specific bodypart if present in the scene.

Parameters

sBodypartName is the name of the bodypart (kinect skeleton node) to be looked at

Definition at line 189 of file icubClient_ARErelated.cpp.

◆ lookAtPartner()

bool ICubClient::lookAtPartner ( )

Looks at the agent if present in the scene.

Definition at line 307 of file icubClient.cpp.

◆ point() [1/3]

bool icubclient::ICubClient::point	(	const yarp::sig::VectorOf< double > &	target,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Point at a specified location from the iCub.

See the SubSystem_ARE::point documentation for more details.

Parameters

target	contains spatial information about the location where pointing at. The target can be far away from the iCub
options	bottle containing a list of options (e.g. force to use specific hand with "left"\|"right" option).

Returns: true in case of success release, false otherwise (Entity non existing, impossible to reach, etc.).

Definition at line 89 of file icubClient_ARErelated.cpp.

◆ point() [2/3]

bool icubclient::ICubClient::point	(	const double	x,
		const double	y,
		const double	z,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

inline

Definition at line 203 of file icubClient.h.

◆ point() [3/3]

bool icubclient::ICubClient::point	(	const std::string &	oLocation,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Point at a specified location.

See the SubSystem_ARE::point documentation for more details.

Parameters

oLocation	is the name of the entity in the OPC where the robot should point at.
options	bottle containing a list of options (e.g. force to use specific hand with "left"\|"right" option).

Returns: true in case of success release, false otherwise (Entity non existing, impossible to reach, etc.).

Definition at line 104 of file icubClient_ARErelated.cpp.

◆ pullKarmaBack()

bool ICubClient::pullKarmaBack	(	const std::string &	objName,
		const double &	targetPosXBack,
		const std::string &	armType = `"selectable"`,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pullKarmaBack: pull an object by name back See the SubSystem_KARMA::pullBack documentation for more details.

Parameters

objName	name of object, which will be looked for in OPC
targetPosXBack	X coordinate of object to pull back
armType	"left" or "right" arm to conduct action, otherwise arm will be chosen by KARMA
options	options to be passed to Karma

Returns: true in case of success release, false otherwise

Definition at line 160 of file icubClient_KARMArelated.cpp.

◆ push()

bool ICubClient::push	(	const std::string &	oLocation,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Push at a specified location.

This method is deprecated, and ICubClient::pushKarmaLeft or ICubClient::pushKarmaRight should be used instead. See the SubSystem_ARE::push documentation for more details.

Parameters

oLocation	is the name of the entity in the OPC where the robot should push at.
options	bottle containing a list of options (e.g. force to use specific hand with "left"\|"right" option).

Returns: true in case of success release, false otherwise (Entity non existing, impossible to reach, etc.).

Definition at line 131 of file icubClient_ARErelated.cpp.

◆ pushKarma()

bool ICubClient::pushKarma	(	const yarp::sig::VectorOf< double > &	targetCenter,
		const double &	theta,
		const double &	radius,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pushKarma (KARMA): push to certain position, along a direction See the SubSystem_KARMA::push documentation for more details.

Parameters

targetCenter	position to push to.
theta	angle between the y-axis (in robot FoR) and starting position of push action, defines the direction of push action
radius	radius of the circle with center at

See also: targetCenter

Parameters

options options to be passed to Karma

Returns: true in case of success release, false otherwise

Definition at line 147 of file icubClient_KARMArelated.cpp.

◆ pushKarmaFront()

bool ICubClient::pushKarmaFront	(	const std::string &	objName,
		const double &	targetPosXFront,
		const std::string &	armType = `"selectable"`,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pushKarmaFront: push an object by name to front See the SubSystem_KARMA::pushFront documentation for more details.

Parameters

objName	name of object, which will be looked for in OPC
targetPosXFront	X coordinate of object to push to
armType	"left" or "right" arm to conduct action, otherwise arm will be chosen by KARMA
options	options to be passed to Karma

Returns: true in case of success release, false otherwise

Definition at line 108 of file icubClient_KARMArelated.cpp.

◆ pushKarmaLeft()

bool ICubClient::pushKarmaLeft	(	const std::string &	objName,
		const double &	targetPosYLeft,
		const std::string &	armType = `"selectable"`,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pushKarmaLeft: push an object by name to left side See the SubSystem_KARMA::pushAside documentation for more details.

Parameters

objName	is the name of object, which will be looked for in OPC
targetPosYLeft	Y coordinate of object to push to
armType	"left" or "right" arm to conduct action, otherwise arm will be chosen by KARMA
options	options to be passed to Karma

Returns: true in case of success release, false otherwise

Definition at line 30 of file icubClient_KARMArelated.cpp.

◆ pushKarmaRight()

bool ICubClient::pushKarmaRight	(	const std::string &	objName,
		const double &	targetPosYRight,
		const std::string &	armType = `"selectable"`,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pushKarmaRight: push an object by name to right side See the SubSystem_KARMA::pushAside documentation for more details.

Parameters

objName	is the name of object, which will be looked for in OPC
targetPosYRight	Y coordinate of object to push to
armType	"left" or "right" arm to conduct action, otherwise arm will be chosen by KARMA
options	options to be passed to Karma

Returns: true in case of success release, false otherwise

Definition at line 69 of file icubClient_KARMArelated.cpp.

◆ release() [1/2]

bool ICubClient::release	(	const std::string &	oLocation,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Release the hand-held object on a given location.

See the SubSystem_ARE::release documentation for more details.

Parameters

oLocation	is the name of the entity in the OPC where the robot should release.
options	bottle containing a list of options (e.g. force to use specific hand with "left"\|"right" option).

Returns: true in case of success release, false otherwise (Entity non existing, impossible to reach, etc.).

Definition at line 39 of file icubClient_ARErelated.cpp.

◆ release() [2/2]

bool ICubClient::release	(	const yarp::sig::VectorOf< double > &	target,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Release the hand-held object on a given location.

See the SubSystem_ARE::release documentation for more details.

Parameters

target	contains spatial information about the location where releasing the object.
options	bottle containing a list of options (e.g. force to use specific hand with "left"\|"right" option).

Returns: true in case of success release, false otherwise (Entity non existing, impossible to reach, etc.).

Definition at line 59 of file icubClient_ARErelated.cpp.

◆ say()

bool ICubClient::say	(	const std::string &	text,
		bool	shouldWait = `true`
	)

Ask the robot to perform speech synthesis of a given sentence.

Parameters

text	to be said.
shouldWait	Whether the method should wait until the speech was produced, or return immediately

Returns: true in case the sentence was uttered, false otherwise (speech subsystem not available)

Definition at line 374 of file icubClient.cpp.

◆ take()

bool ICubClient::take	(	const std::string &	oName,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Take (grasp) an object.

See the subSystem_ARE::take documentation for more details.

Parameters

oName	is the name of the entity in the OPC where the robot should take at.
options	bottle containing a list of options (e.g. force to use specific hand with "left"\|"right" option).

Returns: true in case of success grasp, false otherwise (Entity non existing, impossible to reach, etc.).

Definition at line 147 of file icubClient_ARErelated.cpp.

◆ updateAgent()

void ICubClient::updateAgent ( )

Retrieve fresh definition of the iCub agent from the OPC.

Definition at line 169 of file icubClient.cpp.

◆ waving()

bool ICubClient::waving ( const bool sw )

Enable/disable arms waving.

See the SubSystem_ARE::waving documentation for more details.

Parameters

sw	enable/disable if true/false.

Returns: true in case of successful request, false otherwise.

Definition at line 77 of file icubClient_ARErelated.cpp.

Member Data Documentation

◆ actionsKnown

std::list<Action*> icubclient::ICubClient::actionsKnown

protected

Definition at line 71 of file icubClient.h.

◆ closed

bool icubclient::ICubClient::closed

protected

Definition at line 70 of file icubClient.h.

◆ icubAgent

Agent* icubclient::ICubClient::icubAgent

Definition at line 113 of file icubClient.h.

◆ opc

OPCClient* icubclient::ICubClient::opc

Definition at line 112 of file icubClient.h.

◆ robot

std::string icubclient::ICubClient::robot

protected

Definition at line 77 of file icubClient.h.

◆ subSystems

std::map<std::string, SubSystem*> icubclient::ICubClient::subSystems

protected

Definition at line 69 of file icubClient.h.

◆ xRangeMax

double icubclient::ICubClient::xRangeMax

protected

Definition at line 75 of file icubClient.h.

◆ xRangeMin

double icubclient::ICubClient::xRangeMin

protected

Definition at line 74 of file icubClient.h.

◆ yRangeMax

double icubclient::ICubClient::yRangeMax

protected

Definition at line 75 of file icubClient.h.

◆ yRangeMin

double icubclient::ICubClient::yRangeMin

protected

Definition at line 74 of file icubClient.h.

◆ zRangeMax

double icubclient::ICubClient::zRangeMax

protected

Definition at line 75 of file icubClient.h.

◆ zRangeMin

double icubclient::ICubClient::zRangeMin

protected

Definition at line 74 of file icubClient.h.

◆ icubclient::OPCClient

class icubclient::OPCClient

An OPC client using the datastructures defined within the icub-client library.

Using this ensures you that your manipulation of the OPC will be done with correct formatting.

Definition at line 35 of file opcClient.h.

Public Member Functions
	OPCClient (const std::string &moduleName)
	Create an OPC client. More...

template<class T >
T *	addEntity (const std::string &name)
	Creates a new entity. More...

template<class T >
T *	addOrRetrieveEntity (const std::string &name)
	Obtains an entity with the given name. More...

bool	isConnected ()
	Check if the client is already connected to the OPC server. More...

bool	connect (const std::string &opcName)
	Try to connect the client to an OPC server. More...

void	interrupt ()
	Interrupt communications of the client ports. More...

void	close ()
	Close the client ports. More...

void	clear ()
	Clear the OPC content. More...

bool	setEntityProperty (std::string sourceEntityName, std::string propertyName, std::string targetEntityName)
	Try to assign a property from an entity to another entity, using a specific property name. More...

bool	addRelation (const Relation &r, double lifeTime=-1)
	Obtains a relation between two entities. More...

bool	addRelation (Entity subject, Entity verb, Entity object=nullptr, double lifeTime=-1, Entity complement_place=nullptr, Entity complement_time=nullptr, Entity complement_manner=nullptr)
	Obtains a relation between two entities. More...

bool	removeRelation (const Relation &r)
	Try to remove a relation between two entities. More...

bool	removeRelation (Entity subject, Entity verb, Entity object=nullptr, Entity complement_place=nullptr, Entity complement_time=nullptr, Entity complement_manner=nullptr)
	Try to remove a relation between two entities. More...

bool	containsRelation (Entity subject, Entity verb, Entity object=nullptr, Entity complement_place=nullptr, Entity complement_time=nullptr, Entity complement_manner=nullptr)
	Check if a relation exists. More...

bool	containsRelation (const Relation &r)
	Check if a relation exists. More...

std::list< Relation >	getRelations ()
	Returns a list of all existing relations between entities. More...

std::list< Relation >	getRelations (std::string entity)
	Returns a list of all existing relations involving a specific entities. More...

std::list< Relation >	getRelations (Entity *entity)
	Returns a list of all existing relations involving a specific entities. More...

std::list< Relation >	getRelationsMatching (std::string subject="any", std::string verb="any", std::string object="any", std::string c_place="any", std::string c_time="any", std::string c_manner="any")
	Returns a list of all existing relations between entities. More...

std::list< Relation >	getRelationsMatchingLoosly (std::string subject="any", std::string verb="any", std::string object="any", std::string c_place="any", std::string c_time="any", std::string c_manner="any")
	Returns a list of all existing relations between entities. More...

bool	setLifeTime (int id, double lifeTime)
	Set the lifetime property of a relation in the OPC. More...

Entity *	getEntity (const std::string &name, bool forceUpdate=false)
	Gets an entity based on its name, but do no create it if it doesn't exist yet. More...

Entity *	getEntity (int id, bool forceUpdate=false)
	Gets an entity based on its id, but do no create it if it doesn't exist yet. More...

bool	removeEntity (const std::string &name)
	Removes an entity based on its name. More...

bool	removeEntity (int id)
	Removes an entity based on its id. More...

void	checkout (bool updateCache=true)
	Poll the OPC for all entities and relations and store them locally. More...

void	update ()
	Update the properties of all locally stored entities & relations. More...

void	update (Entity *e)
	Poll the OPC for updating a given entity properties. More...

void	commit ()
	Commit all the entities & relations stored locally, erasing the server copies. More...

void	commit (Entity *e)
	Commit a single local entity, erasing the server copies. More...

std::list< Entity * >	Entities (const yarp::os::Bottle &condition)
	Getter of the list of entities of matching a complex condition (e.g "(entity "==" agent) "&&" (isPresent "==" 1) ) and update them locally. More...

std::list< Entity * >	Entities (const std::string &prop, const std::string &op, const std::string &value)
	Getter of the list of entities matching a condition and update them locally. More...

std::list< Entity * >	EntitiesCache () const
	Getter of the list of entities stored locally. More...

std::list< std::shared_ptr< Entity > >	EntitiesCacheCopy () const
	Getter of the list of the copies of the entities stored locally. More...

std::string	toString ()
	Returns a human readable description of the client content (Entities & Relations) More...

Public Attributes
bool	isVerbose

Protected Member Functions
bool	write (yarp::os::Bottle &cmd, yarp::os::Bottle &reply, bool Verbose=false)
	Send a command to the OPC and return the reply. More...

void	addEntity (Entity *e)
	Send a the request to add a new entity to the OPC. More...

int	getRelationID (Entity subject, Entity verb, Entity object=nullptr, Entity complement_place=nullptr, Entity complement_time=nullptr, Entity complement_manner=nullptr)

bool	changeName (Entity *e, const std::string &newName)
	Change the name of an entity and send messages to relevant subsystems. More...

Protected Attributes
yarp::os::Port	opc
	Port which connects to /OPC/rpc. More...

std::map< int, Entity * >	entitiesByID

std::string	opcName

Friends
class	ICubClient

Constructor & Destructor Documentation

◆ OPCClient()

OPCClient::OPCClient ( const std::string & moduleName )

Create an OPC client.

Parameters

moduleName The port namespace that will precede the client ports names.

Definition at line 32 of file opcClient.cpp.

Member Function Documentation

◆ addEntity() [1/2]

void OPCClient::addEntity ( Entity * e )

protected

Send a the request to add a new entity to the OPC.

Parameters

e	Pointer to the entity to be added. After executing the method, it will contain the updated entity.

Definition at line 95 of file opcClient.cpp.

◆ addEntity() [2/2]

template<class T >

T* icubclient::OPCClient::addEntity ( const std::string & name )

inline

Creates a new entity.

If an Entity with the provided name is already existing, a new Entity with an appended number is returned. It is a template method, so all subclasses of Entity can be created like this

Parameters

name	Name of the new entity

Returns: Newly created entity

Definition at line 92 of file opcClient.h.

◆ addOrRetrieveEntity()

template<class T >

T* icubclient::OPCClient::addOrRetrieveEntity ( const std::string & name )

inline

Obtains an entity with the given name.

If this name is already present, then the existing entity is returned, otherwise a new one is created. It is a template method, so all subclasses of Entity can be created like this

Parameters

name	Name of the entity to be retrieved / created

Returns: Entity

Definition at line 119 of file opcClient.h.

◆ addRelation() [1/2]

bool OPCClient::addRelation	(	const Relation &	r,
		double	lifeTime = `-1`
	)

Obtains a relation between two entities.

If this relation is already present on the server side then the local relations are updated, else a new one is created. The relation is directly added on the server side.

Parameters

r	- The relation to be added on the server
lifeTime	- how long the relation should last for

Returns: true in case of success (relation was not present and was successfuly added), false in other cases.

Definition at line 390 of file opcClient.cpp.

◆ addRelation() [2/2]

bool OPCClient::addRelation	(	Entity *	subject,
		Entity *	verb,
		Entity *	object = `nullptr`,
		double	lifeTime = `-1`,
		Entity *	complement_place = `nullptr`,
		Entity *	complement_time = `nullptr`,
		Entity *	complement_manner = `nullptr`
	)

Obtains a relation between two entities.

If this relation already present on the server side then the local relations are updated, else a new one is created. The relation is directly added on the server side.

Parameters

lifeTime - how long the relation should last for

Returns: true in case of success (relation was not present and was successfuly added), false in other cases.

Definition at line 408 of file opcClient.cpp.

◆ changeName()

bool OPCClient::changeName	(	Entity *	e,
		const std::string &	newName
	)

protected

Change the name of an entity and send messages to relevant subsystems.

Parameters

e	Entity whose name is to be changed
newName	Desired name of e

Definition at line 969 of file opcClient.cpp.

◆ checkout()

void OPCClient::checkout ( bool updateCache = true )

Poll the OPC for all entities and relations and store them locally.

Parameters

updateCache If this option is turned on the local cache will be wiped

Definition at line 754 of file opcClient.cpp.

◆ clear()

void OPCClient::clear ( )

Clear the OPC content.

Definition at line 80 of file opcClient.cpp.

◆ close()

void OPCClient::close ( )

Close the client ports.

Definition at line 69 of file opcClient.cpp.

◆ commit() [1/2]

void OPCClient::commit ( )

Commit all the entities & relations stored locally, erasing the server copies.

Definition at line 835 of file opcClient.cpp.

◆ commit() [2/2]

void OPCClient::commit ( Entity * e )

Commit a single local entity, erasing the server copies.

Parameters

e	A pointer to the entity to be commited

Definition at line 844 of file opcClient.cpp.

◆ connect()

bool icubclient::OPCClient::connect ( const std::string & opcName )

inline

Try to connect the client to an OPC server.

Parameters

opcName the name of the OPC module to connect to.

Definition at line 157 of file opcClient.h.

◆ containsRelation() [1/2]

bool OPCClient::containsRelation	(	Entity *	subject,
		Entity *	verb,
		Entity *	object = `nullptr`,
		Entity *	complement_place = `nullptr`,
		Entity *	complement_time = `nullptr`,
		Entity *	complement_manner = `nullptr`
	)

Check if a relation exists.

Returns: true in case the relation exists, false otherwise

Definition at line 501 of file opcClient.cpp.

◆ containsRelation() [2/2]

bool OPCClient::containsRelation ( const Relation & r )

Check if a relation exists.

Parameters

r	- relation to be checked

Returns: true in case the relation exists, false otherwise

Definition at line 513 of file opcClient.cpp.

◆ Entities() [1/2]

std::list< Entity * > OPCClient::Entities ( const yarp::os::Bottle & condition )

Getter of the list of entities of matching a complex condition (e.g "(entity "==" agent) "&&" (isPresent "==" 1) ) and update them locally.

Definition at line 865 of file opcClient.cpp.

◆ Entities() [2/2]

list< Entity * > OPCClient::Entities	(	const std::string &	prop,
		const std::string &	op,
		const std::string &	value
	)

Getter of the list of entities matching a condition and update them locally.

Definition at line 893 of file opcClient.cpp.

◆ EntitiesCache()

list< Entity * > OPCClient::EntitiesCache ( ) const

Getter of the list of entities stored locally.

Definition at line 905 of file opcClient.cpp.

◆ EntitiesCacheCopy()

std::list< std::shared_ptr< Entity > > OPCClient::EntitiesCacheCopy ( ) const

Getter of the list of the copies of the entities stored locally.

Definition at line 917 of file opcClient.cpp.

◆ getEntity() [1/2]

Entity * OPCClient::getEntity	(	const std::string &	name,
		bool	forceUpdate = `false`
	)

Gets an entity based on its name, but do no create it if it doesn't exist yet.

Parameters

name	The name of the entity to retrieve.
forceUpdate	Update the entity instead of retrieving from the cache. (false by default)

Returns: Pointer to the entity or nullptr if not existing

Definition at line 134 of file opcClient.cpp.

◆ getEntity() [2/2]

Entity * OPCClient::getEntity	(	int	id,
		bool	forceUpdate = `false`
	)

Gets an entity based on its id, but do no create it if it doesn't exist yet.

Parameters

id	The ID of the entity to retrieve.
forceUpdate	Update the entity instead of retrieving from the cache. (false by default)

Returns: Pointer to the entity or nullptr if not existing

Definition at line 181 of file opcClient.cpp.

◆ getRelationID()

int OPCClient::getRelationID	(	Entity *	subject,
		Entity *	verb,
		Entity *	object = `nullptr`,
		Entity *	complement_place = `nullptr`,
		Entity *	complement_time = `nullptr`,
		Entity *	complement_manner = `nullptr`
	)

protected

Definition at line 302 of file opcClient.cpp.

◆ getRelations() [1/3]

list< Relation > OPCClient::getRelations ( )

Returns a list of all existing relations between entities.

Definition at line 570 of file opcClient.cpp.

◆ getRelations() [2/3]

std::list< Relation > OPCClient::getRelations ( std::string entity )

Returns a list of all existing relations involving a specific entities.

Definition at line 729 of file opcClient.cpp.

◆ getRelations() [3/3]

std::list< Relation > OPCClient::getRelations ( Entity * entity )

Returns a list of all existing relations involving a specific entities.

Definition at line 748 of file opcClient.cpp.

◆ getRelationsMatching()

std::list< Relation > OPCClient::getRelationsMatching	(	std::string	subject = `"any"`,
		std::string	verb = `"any"`,
		std::string	object = `"any"`,
		std::string	c_place = `"any"`,
		std::string	c_time = `"any"`,
		std::string	c_manner = `"any"`
	)

Returns a list of all existing relations between entities.

All the roles with something other than "any" will act as filters for the relation.

Definition at line 617 of file opcClient.cpp.

◆ getRelationsMatchingLoosly()

std::list< Relation > OPCClient::getRelationsMatchingLoosly	(	std::string	subject = `"any"`,
		std::string	verb = `"any"`,
		std::string	object = `"any"`,
		std::string	c_place = `"any"`,
		std::string	c_time = `"any"`,
		std::string	c_manner = `"any"`
	)

Returns a list of all existing relations between entities.

All the roles with something else than "any" will act as filters for the relation. All relations with at least one role matching will be returned.

Definition at line 710 of file opcClient.cpp.

◆ interrupt()

void OPCClient::interrupt ( )

Interrupt communications of the client ports.

Definition at line 64 of file opcClient.cpp.

◆ isConnected()

bool icubclient::OPCClient::isConnected ( )

inline

Check if the client is already connected to the OPC server.

Warning, this method tries to connect to the OPC again in case it is not connected yet.

Returns: Whether the OPC was already connected OR whether the new connect was successful

Definition at line 141 of file opcClient.h.

◆ removeEntity() [1/2]

bool OPCClient::removeEntity ( const std::string & name )

Removes an entity based on its name.

Parameters

name	The name of the entity to remove.

Returns: true/false if succeeded/failed.

Definition at line 246 of file opcClient.cpp.

◆ removeEntity() [2/2]

bool OPCClient::removeEntity ( int id )

Removes an entity based on its id.

Parameters

id	The ID of the entity to retrieve.

Returns: true/false if succeeded/failed.

Definition at line 273 of file opcClient.cpp.

◆ removeRelation() [1/2]

bool OPCClient::removeRelation ( const Relation & r )

Try to remove a relation between two entities.

The relation is directly removed on the server side.

Parameters

r	- relation to be removed

Returns: true in case of success (final state no relation locally/server), false otherwise

Definition at line 450 of file opcClient.cpp.

◆ removeRelation() [2/2]

bool OPCClient::removeRelation	(	Entity *	subject,
		Entity *	verb,
		Entity *	object = `nullptr`,
		Entity *	complement_place = `nullptr`,
		Entity *	complement_time = `nullptr`,
		Entity *	complement_manner = `nullptr`
	)

Try to remove a relation between two entities.

The relation is directly removed on the server side.

Returns: true in case of success (final state no relation locally/server), false otherwise

Definition at line 462 of file opcClient.cpp.

◆ setEntityProperty()

bool OPCClient::setEntityProperty	(	std::string	sourceEntityName,
		std::string	propertyName,
		std::string	targetEntityName
	)

Try to assign a property from an entity to another entity, using a specific property name.

Parameters

sourceEntityName	Name of the entity the property should be copied from
propertyName	Name of the property to be copied
targetEntityName	Name of the entity where the property should be copied into

Definition at line 122 of file opcClient.cpp.

◆ setLifeTime()

bool OPCClient::setLifeTime	(	int	id,
		double	lifeTime
	)

Set the lifetime property of a relation in the OPC.

Returns: true in case of success, false otherwise

Definition at line 524 of file opcClient.cpp.

◆ toString()

string OPCClient::toString ( )

Returns a human readable description of the client content (Entities & Relations)

Definition at line 954 of file opcClient.cpp.

◆ update() [1/2]

void OPCClient::update ( )

Update the properties of all locally stored entities & relations.

Definition at line 794 of file opcClient.cpp.

◆ update() [2/2]

void OPCClient::update ( Entity * e )

Poll the OPC for updating a given entity properties.

Parameters

e	A pointer on the entity to update.

Definition at line 803 of file opcClient.cpp.

◆ write()

bool OPCClient::write	(	yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	reply,
		bool	Verbose = `false`
	)

protected

Send a command to the OPC and return the reply.

Parameters

cmd	the command to be send to the OPC
reply	reference to the reply of the OPC
Verbose	Whether to output additional information using yInfo()

Definition at line 39 of file opcClient.cpp.

Friends And Related Function Documentation

◆ ICubClient

friend class ICubClient

friend

Definition at line 37 of file opcClient.h.

Member Data Documentation

◆ entitiesByID

std::map<int, Entity*> icubclient::OPCClient::entitiesByID

protected

Definition at line 50 of file opcClient.h.

◆ isVerbose

bool icubclient::OPCClient::isVerbose

Definition at line 82 of file opcClient.h.

◆ opc

yarp::os::Port icubclient::OPCClient::opc

protected

Port which connects to /OPC/rpc.

Definition at line 40 of file opcClient.h.

◆ opcName

std::string icubclient::OPCClient::opcName

protected

Definition at line 73 of file opcClient.h.

Classes

Detailed Description

Class Documentation

◆ icubclient::ICubClient

Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ ICubClient()

◆ ~ICubClient()

Member Function Documentation

◆ babbling() [1/2]

◆ babbling() [2/2]

◆ changeName()

◆ close()

◆ commitAgent()

◆ connect()

◆ connectOPC()

◆ connectSubSystems()

◆ drawKarma()

◆ getAgentDetectorClient()

◆ getARE()

◆ getBabblingClient()

◆ getEmotionClient()

◆ getHighestEmotion()

◆ getIOL2OPCClient()

◆ getKARMA()

◆ getKnownActions()

◆ getObjectsInRange()

◆ getObjectsInSight()

◆ getPartnerBodypartLoc()

◆ getPartnerName()

◆ getRecogClient()

◆ getSAMClient()

◆ getSpeechClient()

◆ getSubSystem() [1/2]

◆ getSubSystem() [2/2]

◆ home()

◆ isTargetInRange()

◆ look() [1/2]

◆ look() [2/2]

◆ lookAtBodypart()

◆ lookAtPartner()

◆ point() [1/3]

◆ point() [2/3]

◆ point() [3/3]

◆ pullKarmaBack()

◆ push()

◆ pushKarma()

◆ pushKarmaFront()

◆ pushKarmaLeft()

◆ pushKarmaRight()

◆ release() [1/2]

◆ release() [2/2]

◆ say()

◆ take()

◆ updateAgent()

◆ waving()

Member Data Documentation

◆ actionsKnown

◆ closed

◆ icubAgent

◆ opc

◆ robot

◆ subSystems

◆ xRangeMax

◆ xRangeMin

◆ yRangeMax

◆ yRangeMin

◆ zRangeMax

◆ zRangeMin

◆ icubclient::OPCClient

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ OPCClient()

Member Function Documentation