Abstract class to handle sub-systems of the icub-client (speech, action, etc...) and the relevant subclasses. More...

Collaboration diagram for Subsystems:

Classes
class	icubclient::SubSystem
	Abstract class to handle sub-systems of the icub-client. More...

class	icubclient::SubSystem_agentDetector
	SubSystem for agentDetector. More...

class	icubclient::SubSystem_ARE
	SubSystem to deal with the actionsRenderingEngine module (a.k.a. More...

class	icubclient::SubSystem_babbling
	SubSystem for babbling. More...

class	icubclient::SubSystem_emotion
	SubSystem for emotion. More...

class	icubclient::SubSystem_IOL2OPC
	SubSystem for iol2opc. More...

class	icubclient::SubSystem_KARMA
	SubSystem to deal with the experimental affordance learning module (a.k.a. More...

class	icubclient::SubSystem_Recog
	Abstract subSystem for speech recognizer. More...

class	icubclient::SubSystem_SAM
	SubSystem for SAM. More...

class	icubclient::SubSystem_Speech
	Abstract subSystem for speech management (Text to Speech) More...

class	icubclient::SubSystem_Speech_eSpeak
	SubSystem for speech synthesis with emotional tuning of speed and pitch using eSpeak. More...

Detailed Description

Abstract class to handle sub-systems of the icub-client (speech, action, etc...) and the relevant subclasses.

Class Documentation

◆ icubclient::SubSystem

class icubclient::SubSystem

Abstract class to handle sub-systems of the icub-client.

Definition at line 43 of file subSystem.h.

Inheritance diagram for icubclient::SubSystem:

Public Member Functions
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

virtual void	Close ()=0
	Clean up resources. More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
virtual bool	connect ()=0

Protected Attributes
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem()

icubclient::SubSystem::SubSystem ( const std::string & masterName )

inline

Definition at line 53 of file subSystem.h.

◆ ~SubSystem()

virtual icubclient::SubSystem::~SubSystem ( )

inlinevirtual

Definition at line 54 of file subSystem.h.

Member Function Documentation

◆ Close()

virtual void icubclient::SubSystem::Close ( )

pure virtual

Clean up resources.

Implemented in icubclient::SubSystem_KARMA, icubclient::SubSystem_ARE, icubclient::SubSystem_emotion, icubclient::SubSystem_Speech, icubclient::SubSystem_agentDetector, icubclient::SubSystem_IOL2OPC, icubclient::SubSystem_SAM, icubclient::SubSystem_Recog, and icubclient::SubSystem_babbling.

◆ connect()

virtual bool icubclient::SubSystem::connect ( )

protectedpure virtual

Implemented in icubclient::SubSystem_KARMA, icubclient::SubSystem_ARE, icubclient::SubSystem_Speech, icubclient::SubSystem_agentDetector, icubclient::SubSystem_emotion, icubclient::SubSystem_IOL2OPC, icubclient::SubSystem_SAM, icubclient::SubSystem_Recog, and icubclient::SubSystem_babbling.

◆ Connect()

bool icubclient::SubSystem::Connect ( )

inline

Connects the subsystem to its "host".

Returns: True if successful, false otherwise

Definition at line 59 of file subSystem.h.

◆ getType()

std::string icubclient::SubSystem::getType ( ) const

inline

Return the type of the subsystem as string.

Definition at line 71 of file subSystem.h.

Member Data Documentation

◆ m_masterName

std::string icubclient::SubSystem::m_masterName

protected

Definition at line 46 of file subSystem.h.

◆ m_type

std::string icubclient::SubSystem::m_type

protected

Definition at line 47 of file subSystem.h.

◆ portRPC

yarp::os::RpcClient icubclient::SubSystem::portRPC

protected

Definition at line 48 of file subSystem.h.

◆ icubclient::SubSystem_agentDetector

class icubclient::SubSystem_agentDetector

SubSystem for agentDetector.

Definition at line 33 of file subSystem_agentDetector.h.

Inheritance diagram for icubclient::SubSystem_agentDetector:

Public Member Functions
	SubSystem_agentDetector (const std::string &masterName)
	Default constructor. More...

virtual void	Close ()
	Clean up resources. More...

void	pause ()
	Pause the agentDetector. More...

void	resume ()
	The skeleton detection of agentDetector will be resumed. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
virtual bool	connect ()

bool	changeDefaultName (const std::string &new_name)
	Changes the name of the partner within agentDetector Internally used by ICubClient::changeName. More...

Friends
class	ICubClient

Additional Inherited Members
Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_agentDetector()

icubclient::SubSystem_agentDetector::SubSystem_agentDetector ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 12 of file subSystem_agentDetector.cpp.

Member Function Documentation

◆ changeDefaultName()

bool icubclient::SubSystem_agentDetector::changeDefaultName ( const std::string & new_name )

protected

Changes the name of the partner within agentDetector Internally used by ICubClient::changeName.

Parameters

new_name

Returns: true if successful, false otherwise

Definition at line 22 of file subSystem_agentDetector.cpp.

◆ Close()

void icubclient::SubSystem_agentDetector::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 17 of file subSystem_agentDetector.cpp.

◆ connect()

bool icubclient::SubSystem_agentDetector::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 4 of file subSystem_agentDetector.cpp.

◆ pause()

void icubclient::SubSystem_agentDetector::pause ( )

Pause the agentDetector.

No skeleton information of the human will be updated.

Definition at line 34 of file subSystem_agentDetector.cpp.

◆ resume()

void icubclient::SubSystem_agentDetector::resume ( )

The skeleton detection of agentDetector will be resumed.

Definition at line 40 of file subSystem_agentDetector.cpp.

Friends And Related Function Documentation

◆ ICubClient

friend class ICubClient

friend

Definition at line 35 of file subSystem_agentDetector.h.

◆ icubclient::SubSystem_ARE

class icubclient::SubSystem_ARE

SubSystem to deal with the actionsRenderingEngine module (a.k.a.

ARE) for motor control.

For further details, please refer to the ARE main page: http://wiki.icub.org/iCub_documentation/group__actionsRenderingEngine.html

Definition at line 41 of file subSystem_ARE.h.

Inheritance diagram for icubclient::SubSystem_ARE:

Public Member Functions
	SubSystem_ARE (const std::string &masterName)
	Default constructor. More...

void	Close ()
	Clean up resources. More...

bool	getTableHeight (double &height)
	Gets the table height from ARE. More...

void	selectHandCorrectTarget (yarp::os::Bottle &options, yarp::sig::VectorOf< double > &target, const std::string &objName, const std::string handToUse="")

yarp::sig::VectorOf< double >	applySafetyMargins (const yarp::sig::VectorOf< double > &in)
	Applies safety margins, i.e. More...

bool	home (const std::string &part="all")
	Put the specified part ih home position. More...

bool	take (const std::string &sName, const yarp::os::Bottle &options=yarp::os::Bottle())
	Reach the specified [target] and grasp it. More...

bool	push (const std::string &sName, const yarp::os::Bottle &options=yarp::os::Bottle())
	Reach the specified [target] from one side and then push it laterally. More...

bool	point (const yarp::sig::VectorOf< double > &targetUnsafe, const yarp::os::Bottle &options=yarp::os::Bottle())
	Point at the specified [target] with the index finger. More...

bool	drop (const yarp::os::Bottle &options=yarp::os::Bottle())
	If an object is held, bring it over the table and drop it on a random position. More...

bool	dropOn (const yarp::sig::VectorOf< double > &targetUnsafe, const yarp::os::Bottle &options=yarp::os::Bottle())
	Drop the object on a given target. More...

bool	observe (const yarp::os::Bottle &options=yarp::os::Bottle())
	Bring the hand in the visual field and move it with the purpose of visual exploration. More...

bool	expect (const yarp::os::Bottle &options=yarp::os::Bottle())
	Put one hand forward with the palm facing up and wait for an object. More...

bool	give (const yarp::os::Bottle &options=yarp::os::Bottle())
	Put one hand forward with the palm facing up and open the fingers so that the object held in the hand is free to be taken. More...

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

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

bool	track (const yarp::sig::VectorOf< double > &target, const yarp::os::Bottle &options=yarp::os::Bottle())
	Track the specified [target]. More...

bool	impedance (const bool sw)
	Enable/disable impedance control. More...

bool	setExecTime (const double execTime)
	Change default arm movement execution time. More...

	~SubSystem_ARE ()
	Destructor. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
void	appendCartesianTarget (yarp::os::Bottle &b, const yarp::sig::VectorOf< double > &t)
	Appends a target vector t to the Bottle b More...

bool	sendCmd (const yarp::os::Bottle &cmd)
	Sends a command to ARE's cmdPort. More...

bool	connect ()

Protected Attributes
OPCClient *	opc

yarp::os::RpcClient	portCmd
	Port to /ARE/cmd:io. More...

yarp::os::RpcClient	portRPC
	Port to /ARE/rpc. More...

yarp::os::RpcClient	portGet
	Port to /ARE/get:io. More...

yarp::os::RpcClient	portCalib
	Port to iolReachingCalibration. More...

std::string	lastlyUsedHand
	The hand which was used for the last action. More...

Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_ARE()

icubclient::SubSystem_ARE::SubSystem_ARE ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 102 of file subSystem_ARE.cpp.

◆ ~SubSystem_ARE()

icubclient::SubSystem_ARE::~SubSystem_ARE ( )

Destructor.

Definition at line 420 of file subSystem_ARE.cpp.

Member Function Documentation

◆ appendCartesianTarget()

void icubclient::SubSystem_ARE::appendCartesianTarget	(	yarp::os::Bottle &	b,
		const yarp::sig::VectorOf< double > &	t
	)

protected

Appends a target vector t to the Bottle b

Parameters

b	Bottle to append vector to
t	Vector to be appended

Definition at line 4 of file subSystem_ARE.cpp.

◆ applySafetyMargins()

yarp::sig::VectorOf< double > icubclient::SubSystem_ARE::applySafetyMargins ( const yarp::sig::VectorOf< double > & in )

Applies safety margins, i.e.

the in vector should be at least table height and at least 0.1m in front of the iCub

Parameters

in	"Unsafe" vector

Returns: "safe" vector

Definition at line 148 of file subSystem_ARE.cpp.

◆ Close()

void icubclient::SubSystem_ARE::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 114 of file subSystem_ARE.cpp.

◆ connect()

bool icubclient::SubSystem_ARE::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 76 of file subSystem_ARE.cpp.

◆ drop()

bool icubclient::SubSystem_ARE::drop ( const yarp::os::Bottle & options = yarp::os::Bottle() )

If an object is held, bring it over the table and drop it on a random position.

Parameters

options Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 273 of file subSystem_ARE.cpp.

◆ dropOn()

bool icubclient::SubSystem_ARE::dropOn	(	const yarp::sig::VectorOf< double > &	targetUnsafe,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Drop the object on a given target.

Parameters

targetUnsafe	Target where to drop in cartesian coordinates
options	Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 291 of file subSystem_ARE.cpp.

◆ expect()

bool icubclient::SubSystem_ARE::expect ( const yarp::os::Bottle & options = yarp::os::Bottle() )

Put one hand forward with the palm facing up and wait for an object.

Parameters

options Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 330 of file subSystem_ARE.cpp.

◆ getTableHeight()

bool icubclient::SubSystem_ARE::getTableHeight ( double & height )

Gets the table height from ARE.

Parameters

height - reference to the output double

Returns: true on successful communication with ARE, false otherwise

Definition at line 130 of file subSystem_ARE.cpp.

◆ give()

bool icubclient::SubSystem_ARE::give ( const yarp::os::Bottle & options = yarp::os::Bottle() )

Put one hand forward with the palm facing up and open the fingers so that the object held in the hand is free to be taken.

Parameters

options Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 346 of file subSystem_ARE.cpp.

◆ home()

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

Put the specified part ih home position.

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.

Definition at line 160 of file subSystem_ARE.cpp.

◆ impedance()

bool icubclient::SubSystem_ARE::impedance ( const bool sw )

Enable/disable impedance control.

Parameters

sw	enable/disable if true/false.

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

Definition at line 404 of file subSystem_ARE.cpp.

◆ look()

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

Look at the specified [target].

Parameters

target	Target to look at in cartesian coordinates
options	Options of ARE commands ("fixate", "wait", (block_eyes ver)).

Returns: true in case of successful motor command, false otherwise.

Definition at line 376 of file subSystem_ARE.cpp.

◆ observe()

bool icubclient::SubSystem_ARE::observe ( const yarp::os::Bottle & options = yarp::os::Bottle() )

Bring the hand in the visual field and move it with the purpose of visual exploration.

Parameters

options Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 314 of file subSystem_ARE.cpp.

◆ point()

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

Point at the specified [target] with the index finger.

The target can be far away from the iCub, e.g. a body part of the human. If the target is further away than 31cm, use the "pfar" functionality of ARE. If it is closer than 31cm, use the "point" functionality of ARE.

Parameters

targetUnsafe	Target to point to in cartesian coordinates
options	Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 248 of file subSystem_ARE.cpp.

◆ push()

bool icubclient::SubSystem_ARE::push	(	const std::string &	sName,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Reach the specified [target] from one side and then push it laterally.

Optional parameter "away" can be supplied in order to have the robot push the object away from its root reference frame.

Parameters

sName	Name of target to push in cartesian coordinates
options	Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 211 of file subSystem_ARE.cpp.

◆ selectHandCorrectTarget()

void icubclient::SubSystem_ARE::selectHandCorrectTarget	(	yarp::os::Bottle &	options,
		yarp::sig::VectorOf< double > &	target,
		const std::string &	objName,
		const std::string	handToUse = `""`
	)

Definition at line 12 of file subSystem_ARE.cpp.

◆ sendCmd()

bool icubclient::SubSystem_ARE::sendCmd ( const yarp::os::Bottle & cmd )

protected

Sends a command to ARE's cmdPort.

Parameters

cmd	Command to be sent

Returns: True if successful

Definition at line 62 of file subSystem_ARE.cpp.

◆ setExecTime()

bool icubclient::SubSystem_ARE::setExecTime ( const double execTime )

Change default arm movement execution time.

Parameters

execTime the arm movement execution time given in seconds.

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

Definition at line 412 of file subSystem_ARE.cpp.

◆ take()

bool icubclient::SubSystem_ARE::take	(	const std::string &	sName,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

Reach the specified [target] and grasp it.

Optional parameter "side" or "above" can be supplied to choose the orientation the robot should keep while performing the action (default: "above").

Parameters

sName	Name of target to grasp
options	Options of ARE commands ("no_head", "no_gaze", "no_sacc", "still", "left", "right").

Returns: true in case of successful motor command, false otherwise.

Definition at line 175 of file subSystem_ARE.cpp.

◆ track()

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

Track the specified [target].

Parameters

target	Target to look at in cartesian coordinates
options	Options of ARE commands ("no_sacc").

Returns: true in case of successful motor command, false otherwise.

Definition at line 394 of file subSystem_ARE.cpp.

◆ waving()

bool icubclient::SubSystem_ARE::waving ( const bool sw )

Enable/disable arms waving.

Parameters

sw	enable/disable if true/false.

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

Definition at line 361 of file subSystem_ARE.cpp.

Member Data Documentation

◆ lastlyUsedHand

std::string icubclient::SubSystem_ARE::lastlyUsedHand

protected

The hand which was used for the last action.

Definition at line 51 of file subSystem_ARE.h.

◆ opc

OPCClient* icubclient::SubSystem_ARE::opc

protected

Definition at line 44 of file subSystem_ARE.h.

◆ portCalib

yarp::os::RpcClient icubclient::SubSystem_ARE::portCalib

protected

Port to iolReachingCalibration.

Definition at line 49 of file subSystem_ARE.h.

◆ portCmd

yarp::os::RpcClient icubclient::SubSystem_ARE::portCmd

protected

Port to /ARE/cmd:io.

Definition at line 46 of file subSystem_ARE.h.

◆ portGet

yarp::os::RpcClient icubclient::SubSystem_ARE::portGet

protected

Port to /ARE/get:io.

Definition at line 48 of file subSystem_ARE.h.

◆ portRPC

yarp::os::RpcClient icubclient::SubSystem_ARE::portRPC

protected

Port to /ARE/rpc.

Definition at line 47 of file subSystem_ARE.h.

◆ icubclient::SubSystem_babbling

class icubclient::SubSystem_babbling

SubSystem for babbling.

Definition at line 33 of file subSystem_babbling.h.

Inheritance diagram for icubclient::SubSystem_babbling:

Public Member Functions
	SubSystem_babbling (const std::string &masterName)
	Default constructor. More...

virtual void	Close ()
	Clean up resources. More...

bool	babblingArm (const std::string &babblingLimb, double duration=-1.0)
	Whole arm babbling. More...

bool	babbling (int jointNumber, const std::string &babblingLimb, double duration=-1.0)
	Single joint babbling. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
virtual bool	connect ()

Additional Inherited Members
Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_babbling()

icubclient::SubSystem_babbling::SubSystem_babbling ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 12 of file subSystem_babbling.cpp.

Member Function Documentation

◆ babbling()

bool icubclient::SubSystem_babbling::babbling	(	int	jointNumber,
		const std::string &	babblingLimb,
		double	duration = `-1.0`
	)

Single joint babbling.

Parameters

jointNumber	Which joint to babble.
babblingLimb	The limb to babble. Should be "left_arm" or "right_arm"
duration	How long to babble for

Returns: true if successful

Definition at line 36 of file subSystem_babbling.cpp.

◆ babblingArm()

bool icubclient::SubSystem_babbling::babblingArm	(	const std::string &	babblingLimb,
		double	duration = `-1.0`
	)

Whole arm babbling.

Parameters

babblingLimb	The limb to babble. Should be "left_arm" or "right_arm"
duration	How long to babble for

Returns: true if successful

Definition at line 22 of file subSystem_babbling.cpp.

◆ Close()

void icubclient::SubSystem_babbling::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 17 of file subSystem_babbling.cpp.

◆ connect()

bool icubclient::SubSystem_babbling::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 4 of file subSystem_babbling.cpp.

◆ icubclient::SubSystem_emotion

class icubclient::SubSystem_emotion

SubSystem for emotion.

Definition at line 33 of file subSystem_emotion.h.

Inheritance diagram for icubclient::SubSystem_emotion:

Public Member Functions
	SubSystem_emotion (const std::string &masterName)
	Default constructor. More...

virtual void	Close ()
	Clean up resources. More...

bool	setEmotion (std::string emotion, std::string part="all")
	Method to switch iCub emotion for different parts of face. More...

std::pair< std::string, std::string >	getEmotion ()
	Method to get current iCub emotion. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
virtual bool	connect ()

Friends
class	ICubClient

Additional Inherited Members
Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_emotion()

icubclient::SubSystem_emotion::SubSystem_emotion ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 14 of file subSystem_emotion.cpp.

Member Function Documentation

◆ Close()

void icubclient::SubSystem_emotion::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 19 of file subSystem_emotion.cpp.

◆ connect()

bool icubclient::SubSystem_emotion::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 6 of file subSystem_emotion.cpp.

◆ getEmotion()

std::pair< std::string, std::string > icubclient::SubSystem_emotion::getEmotion ( )

Method to get current iCub emotion.

Returns: string with emotion name.

Definition at line 78 of file subSystem_emotion.cpp.

◆ setEmotion()

bool icubclient::SubSystem_emotion::setEmotion	(	std::string	emotion,
		std::string	part = `"all"`
	)

Method to switch iCub emotion for different parts of face.

Parameters

emotion	String of emotion name
part	String of part name - if "all", the whole face is affected

Returns: true if command was sent successful.

Definition at line 24 of file subSystem_emotion.cpp.

Friends And Related Function Documentation

◆ ICubClient

friend class ICubClient

friend

Definition at line 35 of file subSystem_emotion.h.

◆ icubclient::SubSystem_IOL2OPC

class icubclient::SubSystem_IOL2OPC

SubSystem for iol2opc.

Definition at line 33 of file subSystem_iol2opc.h.

Inheritance diagram for icubclient::SubSystem_IOL2OPC:

Public Member Functions
	SubSystem_IOL2OPC (const std::string &masterName)
	Default constructor. More...

virtual void	Close ()
	Clean up resources. More...

void	pause ()
	Pause the iol2opc object detection. More...

void	resume ()
	Resume the iol2opc object detection. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
virtual bool	connect ()

bool	changeName (const std::string &old_name, const std::string &new_name)
	Change the name of an object Internally used by ICubClient::changeName. More...

Friends
class	ICubClient

Additional Inherited Members
Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_IOL2OPC()

icubclient::SubSystem_IOL2OPC::SubSystem_IOL2OPC ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 12 of file subSystem_iol2opc.cpp.

Member Function Documentation

◆ changeName()

bool icubclient::SubSystem_IOL2OPC::changeName	(	const std::string &	old_name,
		const std::string &	new_name
	)

protected

Change the name of an object Internally used by ICubClient::changeName.

Parameters

old_name	Name of the object to be changed
new_name	New name of the object

Definition at line 22 of file subSystem_iol2opc.cpp.

◆ Close()

void icubclient::SubSystem_IOL2OPC::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 17 of file subSystem_iol2opc.cpp.

◆ connect()

bool icubclient::SubSystem_IOL2OPC::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 4 of file subSystem_iol2opc.cpp.

◆ pause()

void icubclient::SubSystem_IOL2OPC::pause ( )

Pause the iol2opc object detection.

Definition at line 32 of file subSystem_iol2opc.cpp.

◆ resume()

void icubclient::SubSystem_IOL2OPC::resume ( )

Resume the iol2opc object detection.

Definition at line 38 of file subSystem_iol2opc.cpp.

Friends And Related Function Documentation

◆ ICubClient

friend class ICubClient

friend

Definition at line 35 of file subSystem_iol2opc.h.

◆ icubclient::SubSystem_KARMA

class icubclient::SubSystem_KARMA

SubSystem to deal with the experimental affordance learning module (a.k.a.

KARMA) for motor control.

For further details, please refer to the KARMA main page: http://robotology.github.io/karma/doxygen/doc/html/group__karmaMotor.html

Definition at line 43 of file subSystem_KARMA.h.

Inheritance diagram for icubclient::SubSystem_KARMA:

Public Member Functions
	SubSystem_KARMA (const std::string &masterName, const std::string &robot)
	Default constructor. More...

void	Close ()
	Clean up resources. More...

yarp::sig::VectorOf< double >	applySafetyMargins (const yarp::sig::VectorOf< double > &in)
	Applies safety margins, i.e. More...

bool	chooseArm (const std::string &armType)
	chooseArm (toolAttach in KARMA): wrapper for tool-attach of KARMA, can be used to choose the arm for actions with KARMA More...

void	chooseArmAuto ()
	chooseArmAuto (toolRemove in KARMA): wrapper for tool-remove of Karma, use to clear the arm choise More...

bool	pushAside (const std::string &objName, const yarp::sig::VectorOf< double > &objCenter, const double &targetPosY, const double &theta, const std::string &armType="selectable", const yarp::os::Bottle &options=yarp::os::Bottle())
	pushAside (KARMA): push an object to a certain location along y-axis of robot RoF More...

bool	pushFront (const std::string &objName, const yarp::sig::VectorOf< double > &objCenter, const double &targetPosXFront, const std::string &armType="selectable", const yarp::os::Bottle &options=yarp::os::Bottle())
	pushFront (KARMA): push an object to a certain location along x-axis of robot RoF More...

bool	push (const yarp::sig::VectorOf< double > &targetCenter, const double theta, const double radius, const yarp::os::Bottle &options=yarp::os::Bottle())
	push (KARMA): push to certain position, along a defined direction More...

bool	pullBack (const std::string &objName, const yarp::sig::VectorOf< double > &objCenter, const double &targetPosXBack, const std::string &armType="selectable", const yarp::os::Bottle &options=yarp::os::Bottle())
	pullBack (KARMA): pull an object to a certain location along x-axis of robot RoF More...

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

bool	vdraw (const std::string &objName, const yarp::sig::VectorOf< double > &targetCenter, const double theta, const double radius, const double dist, const yarp::os::Bottle &options=yarp::os::Bottle())
	vdraw (KARMA): virtual draw action, along the positive direction of the x-axis (in robot FoR) More...

bool	openCartesianClient ()

	~SubSystem_KARMA ()
	Destructor. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
void	appendTarget (yarp::os::Bottle &b, const yarp::sig::VectorOf< double > &tCenter)
	Appends a target vector t to the Bottle More...

void	appendDouble (yarp::os::Bottle &b, const double &v)
	Appends a double value v to the Bottle More...

bool	returnArmSafely (std::string armType)

void	selectHandCorrectTarget (yarp::os::Bottle &options, const std::string &targetName, yarp::sig::VectorOf< double > &target, const std::string handToUse="")

bool	sendCmd (yarp::os::Bottle &cmd)
	Sends a command to KARMA's RPC port. More...

bool	connect ()

Protected Attributes
SubSystem_ARE *	SubARE

bool	AREconnected

std::string	robot

double	tableHeight

bool	hasTable

yarp::os::RpcClient	portStop

yarp::os::RpcClient	portVision

yarp::os::RpcClient	portFinder

yarp::os::RpcClient	portCalib

yarp::dev::PolyDriver	driverL

yarp::dev::PolyDriver	driverR

yarp::dev::PolyDriver	driverHL

yarp::dev::PolyDriver	driverHR

yarp::dev::ICartesianControl *	iCartCtrlL

yarp::dev::ICartesianControl *	iCartCtrlR

Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_KARMA()

icubclient::SubSystem_KARMA::SubSystem_KARMA	(	const std::string &	masterName,
		const std::string &	robot
	)

Default constructor.

Parameters

masterName	stem-name used to open up ports.
robot	name of the robot (`icub` or `icubSim`)

Definition at line 132 of file subSystem_KARMA.cpp.

◆ ~SubSystem_KARMA()

icubclient::SubSystem_KARMA::~SubSystem_KARMA ( )

Destructor.

Definition at line 502 of file subSystem_KARMA.cpp.

Member Function Documentation

◆ appendDouble()

void icubclient::SubSystem_KARMA::appendDouble	(	yarp::os::Bottle &	b,
		const double &	v
	)

protected

Appends a double value v to the Bottle

Definition at line 15 of file subSystem_KARMA.cpp.

◆ appendTarget()

void icubclient::SubSystem_KARMA::appendTarget	(	yarp::os::Bottle &	b,
		const yarp::sig::VectorOf< double > &	tCenter
	)

protected

Appends a target vector t to the Bottle

Definition at line 8 of file subSystem_KARMA.cpp.

◆ applySafetyMargins()

yarp::sig::VectorOf< double > icubclient::SubSystem_KARMA::applySafetyMargins ( const yarp::sig::VectorOf< double > & in )

Applies safety margins, i.e.

the in vector should be at least table height and at least 0.1m in front of the iCub

Parameters

in	"Unsafe" vector

Returns: "safe" vector

Definition at line 172 of file subSystem_KARMA.cpp.

◆ chooseArm()

bool icubclient::SubSystem_KARMA::chooseArm ( const std::string & armType )

chooseArm (toolAttach in KARMA): wrapper for tool-attach of KARMA, can be used to choose the arm for actions with KARMA

Parameters

armType string value of "left" or "right" arm

Definition at line 236 of file subSystem_KARMA.cpp.

◆ chooseArmAuto()

void icubclient::SubSystem_KARMA::chooseArmAuto ( )

chooseArmAuto (toolRemove in KARMA): wrapper for tool-remove of Karma, use to clear the arm choise

Definition at line 248 of file subSystem_KARMA.cpp.

◆ Close()

void icubclient::SubSystem_KARMA::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 152 of file subSystem_KARMA.cpp.

◆ connect()

bool icubclient::SubSystem_KARMA::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 82 of file subSystem_KARMA.cpp.

◆ draw()

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

draw (KARMA): draw action, along the positive direction of the x-axis (in robot FoR)

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	to be passed to KARMA

Returns: true in case of success release, false otherwise

Definition at line 407 of file subSystem_KARMA.cpp.

◆ openCartesianClient()

bool icubclient::SubSystem_KARMA::openCartesianClient ( )

Definition at line 449 of file subSystem_KARMA.cpp.

◆ pullBack()

bool icubclient::SubSystem_KARMA::pullBack	(	const std::string &	objName,
		const yarp::sig::VectorOf< double > &	objCenter,
		const double &	targetPosXBack,
		const std::string &	armType = `"selectable"`,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pullBack (KARMA): pull an object to a certain location along x-axis of robot RoF

Parameters

objName	name of object to pull (can be empty, in this case no correction is applied by iolReachingCalibration)
objCenter	coordinate of object
targetPosXBack	x coordinate of location to pull object to
armType	"left" or "right" arm to conduct action, otherwise arm will be chosen by KARMA
options	to be passed to KARMA

Returns: true in case of success release, false otherwise

Definition at line 365 of file subSystem_KARMA.cpp.

◆ push()

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

push (KARMA): push to certain position, along a defined direction

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 to be passed to KARMA

Returns: true in case of success release, false otherwise

Definition at line 345 of file subSystem_KARMA.cpp.

◆ pushAside()

bool icubclient::SubSystem_KARMA::pushAside	(	const std::string &	objName,
		const yarp::sig::VectorOf< double > &	objCenter,
		const double &	targetPosY,
		const double &	theta,
		const std::string &	armType = `"selectable"`,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pushAside (KARMA): push an object to a certain location along y-axis of robot RoF

Parameters

objName	name of object (can be empty, in this case no correction is applied by iolReachingCalibration)
objCenter	coordinate of object
targetPosY	y coordinate of location to push object to
theta	angle to define pushing left (0) or right (180)
armType	"left" or "right" arm to conduct action, otherwise arm will be chosen by KARMA
options	to be passed to KARMA

Returns: true in case of success release, false otherwise

Definition at line 260 of file subSystem_KARMA.cpp.

◆ pushFront()

bool icubclient::SubSystem_KARMA::pushFront	(	const std::string &	objName,
		const yarp::sig::VectorOf< double > &	objCenter,
		const double &	targetPosXFront,
		const std::string &	armType = `"selectable"`,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

pushFront (KARMA): push an object to a certain location along x-axis of robot RoF

Parameters

objName	name of object (can be empty, in this case no correction is applied by iolReachingCalibration)
objCenter	coordinate of object
targetPosXFront	x coordinate of location to push object to
armType	"left" or "right" arm to conduct action, otherwise arm will be chosen by KARMA
options	to be passed to KARMA

Returns: true in case of success release, false otherwise

Definition at line 303 of file subSystem_KARMA.cpp.

◆ returnArmSafely()

bool icubclient::SubSystem_KARMA::returnArmSafely ( std::string armType )

protected

Definition at line 180 of file subSystem_KARMA.cpp.

◆ selectHandCorrectTarget()

void icubclient::SubSystem_KARMA::selectHandCorrectTarget	(	yarp::os::Bottle &	options,
		const std::string &	targetName,
		yarp::sig::VectorOf< double > &	target,
		const std::string	handToUse = `""`
	)

protected

Definition at line 21 of file subSystem_KARMA.cpp.

◆ sendCmd()

bool icubclient::SubSystem_KARMA::sendCmd ( yarp::os::Bottle & cmd )

protected

Sends a command to KARMA's RPC port.

Parameters

cmd	Command to be sent

Returns: True if successful

Definition at line 71 of file subSystem_KARMA.cpp.

◆ vdraw()

bool icubclient::SubSystem_KARMA::vdraw	(	const std::string &	objName,
		const yarp::sig::VectorOf< double > &	targetCenter,
		const double	theta,
		const double	radius,
		const double	dist,
		const yarp::os::Bottle &	options = `yarp::os::Bottle()`
	)

vdraw (KARMA): virtual draw action, along the positive direction of the x-axis (in robot FoR)

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	to be passed to KARMA
objName	name of object to push (can be empty, in this case no correction is applied by iolReachingCalibration)

Returns: true in case of success release, false otherwise

Definition at line 427 of file subSystem_KARMA.cpp.

Member Data Documentation

◆ AREconnected

bool icubclient::SubSystem_KARMA::AREconnected

protected

Definition at line 47 of file subSystem_KARMA.h.

◆ driverHL

yarp::dev::PolyDriver icubclient::SubSystem_KARMA::driverHL

protected

Definition at line 61 of file subSystem_KARMA.h.

◆ driverHR

yarp::dev::PolyDriver icubclient::SubSystem_KARMA::driverHR

protected

Definition at line 62 of file subSystem_KARMA.h.

◆ driverL

yarp::dev::PolyDriver icubclient::SubSystem_KARMA::driverL

protected

Definition at line 59 of file subSystem_KARMA.h.

◆ driverR

yarp::dev::PolyDriver icubclient::SubSystem_KARMA::driverR

protected

Definition at line 60 of file subSystem_KARMA.h.

◆ hasTable

bool icubclient::SubSystem_KARMA::hasTable

protected

Definition at line 51 of file subSystem_KARMA.h.

◆ iCartCtrlL

yarp::dev::ICartesianControl* icubclient::SubSystem_KARMA::iCartCtrlL

protected

Definition at line 64 of file subSystem_KARMA.h.

◆ iCartCtrlR

yarp::dev::ICartesianControl* icubclient::SubSystem_KARMA::iCartCtrlR

protected

Definition at line 65 of file subSystem_KARMA.h.

◆ portCalib

yarp::os::RpcClient icubclient::SubSystem_KARMA::portCalib

protected

Definition at line 56 of file subSystem_KARMA.h.

◆ portFinder

yarp::os::RpcClient icubclient::SubSystem_KARMA::portFinder

protected

Definition at line 55 of file subSystem_KARMA.h.

◆ portStop

yarp::os::RpcClient icubclient::SubSystem_KARMA::portStop

protected

Definition at line 53 of file subSystem_KARMA.h.

◆ portVision

yarp::os::RpcClient icubclient::SubSystem_KARMA::portVision

protected

Definition at line 54 of file subSystem_KARMA.h.

◆ robot

std::string icubclient::SubSystem_KARMA::robot

protected

Definition at line 49 of file subSystem_KARMA.h.

◆ SubARE

SubSystem_ARE* icubclient::SubSystem_KARMA::SubARE

protected

Definition at line 46 of file subSystem_KARMA.h.

◆ tableHeight

double icubclient::SubSystem_KARMA::tableHeight

protected

Definition at line 50 of file subSystem_KARMA.h.

◆ icubclient::SubSystem_Recog

class icubclient::SubSystem_Recog

Abstract subSystem for speech recognizer.

Definition at line 34 of file subSystem_recog.h.

Inheritance diagram for icubclient::SubSystem_Recog:

Public Member Functions
	SubSystem_Recog (const std::string &masterName)
	Default constructor. More...

virtual void	Close ()
	Clean up resources. More...

void	enableEars (bool on)
	Send a command to ears whether it should listen to the speechRecognizer. More...

void	waitForEars ()
	Send a command to ears that it should stop listening to the speechRecognizer, and wait until it hands back control. More...

bool	interruptSpeechRecognizer ()
	Interrupt the speech recognizer. More...

yarp::os::Bottle	recogFromGrammar (std::string &sInput)
	From one grxml grammar, return the sentence recognized for one timeout This is not supported, use SubSystem_Recog::recogFromGrammarLoop() instead! More...

yarp::os::Bottle	recogFromGrammarLoop (std::string sInput, int iLoop=50, bool keepEarsEnabled=false, bool keepEarsDisabledAfterRecog=false)
	From one grxml grammar, return the first non-empty sentence recognized can last for several timeout (by default 50) More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Member Functions
virtual bool	connect ()

Protected Attributes
yarp::os::RpcClient	ears_port
	Port to /ears/rpc. More...

Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_Recog()

icubclient::SubSystem_Recog::SubSystem_Recog ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 22 of file subSystem_recog.cpp.

Member Function Documentation

◆ Close()

void icubclient::SubSystem_Recog::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 28 of file subSystem_recog.cpp.

◆ connect()

bool icubclient::SubSystem_Recog::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 4 of file subSystem_recog.cpp.

◆ enableEars()

void icubclient::SubSystem_Recog::enableEars ( bool on )

Send a command to ears whether it should listen to the speechRecognizer.

Parameters

on	If true, ears will take control of speechRecognizer

Definition at line 35 of file subSystem_recog.cpp.

◆ interruptSpeechRecognizer()

bool icubclient::SubSystem_Recog::interruptSpeechRecognizer ( )

Interrupt the speech recognizer.

This can be used to faster get back control of the speech recognizer if it is used by another module currently (e.g. ears).

Returns

Definition at line 74 of file subSystem_recog.cpp.

◆ recogFromGrammar()

yarp::os::Bottle icubclient::SubSystem_Recog::recogFromGrammar ( std::string & sInput )

From one grxml grammar, return the sentence recognized for one timeout This is not supported, use SubSystem_Recog::recogFromGrammarLoop() instead!

Definition at line 88 of file subSystem_recog.cpp.

◆ recogFromGrammarLoop()

yarp::os::Bottle icubclient::SubSystem_Recog::recogFromGrammarLoop	(	std::string	sInput,
		int	iLoop = `50`,
		bool	keepEarsEnabled = `false`,
		bool	keepEarsDisabledAfterRecog = `false`
	)

From one grxml grammar, return the first non-empty sentence recognized can last for several timeout (by default 50)

Parameters

sInput	the grxml grammar in string form
iLoop	Maximum number of loops before giving up to recognize input. If -1, loop indefinitely
keepEarsEnabled	Whether ears should stay in control. This should only be set to true by ears itself
keepEarsDisabledAfterRecog	If false, ears will be enabled again after an input was recognized. This can be set to true if a module wants to recognize several commands in a row without ever handing back control to ears.

Definition at line 116 of file subSystem_recog.cpp.

◆ waitForEars()

void icubclient::SubSystem_Recog::waitForEars ( )

Send a command to ears that it should stop listening to the speechRecognizer, and wait until it hands back control.

Definition at line 57 of file subSystem_recog.cpp.

Member Data Documentation

◆ ears_port

yarp::os::RpcClient icubclient::SubSystem_Recog::ears_port

protected

Port to /ears/rpc.

Definition at line 38 of file subSystem_recog.h.

◆ icubclient::SubSystem_SAM

class icubclient::SubSystem_SAM

SubSystem for SAM.

Definition at line 33 of file subSystem_SAM.h.

Inheritance diagram for icubclient::SubSystem_SAM:

Public Member Functions
	SubSystem_SAM (const std::string &masterName)
	Default constructor. More...

virtual void	Close ()
	Clean up resources. More...

bool	attentionModulation (const std::string &mode)
	Method to switch attention modes for SAM. More...

yarp::os::Bottle	askXLabel (const std::string &model)
	Method to trigger a classification from SAM. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Public Attributes
bool	attentionSAM

Protected Member Functions
virtual bool	connect ()

Friends
class	ICubClient

Additional Inherited Members
Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Constructor & Destructor Documentation

◆ SubSystem_SAM()

icubclient::SubSystem_SAM::SubSystem_SAM ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 13 of file subSystem_SAM.cpp.

Member Function Documentation

◆ askXLabel()

yarp::os::Bottle icubclient::SubSystem_SAM::askXLabel ( const std::string & model )

Method to trigger a classification from SAM.

Parameters

model Model name to trigger a classification for

Returns: Bottle with success as string as first value and classification as std::string as second value

Definition at line 56 of file subSystem_SAM.cpp.

◆ attentionModulation()

bool icubclient::SubSystem_SAM::attentionModulation ( const std::string & mode )

Method to switch attention modes for SAM.

Parameters

mode	Allowed modes are `stop` and `continue`.

Returns: true if command was send successful.

Definition at line 23 of file subSystem_SAM.cpp.

◆ Close()

void icubclient::SubSystem_SAM::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 18 of file subSystem_SAM.cpp.

◆ connect()

bool icubclient::SubSystem_SAM::connect ( )

protectedvirtual

Implements icubclient::SubSystem.

Definition at line 5 of file subSystem_SAM.cpp.

Friends And Related Function Documentation

◆ ICubClient

friend class ICubClient

friend

Definition at line 35 of file subSystem_SAM.h.

Member Data Documentation

◆ attentionSAM

bool icubclient::SubSystem_SAM::attentionSAM

Definition at line 41 of file subSystem_SAM.h.

◆ icubclient::SubSystem_Speech

class icubclient::SubSystem_Speech

Abstract subSystem for speech management (Text to Speech)

Definition at line 38 of file subSystem_speech.h.

Inheritance diagram for icubclient::SubSystem_Speech:

Public Member Functions
	SubSystem_Speech (const std::string &masterName)
	Default constructor. More...

virtual bool	connect ()

virtual void	TTS (const std::string &text, bool shouldWait=true)
	Produce text to speech output. More...

void	SetOptions (const std::string &custom)
	Set the command line options sent by iSpeak. More...

bool	isSpeaking ()
	Check if iSpeak is currently speaking. More...

virtual void	Close ()
	Clean up resources. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Attributes
yarp::os::Port	tts
	Port to /iSpeak. More...

Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Additional Inherited Members

Constructor & Destructor Documentation

◆ SubSystem_Speech()

icubclient::SubSystem_Speech::SubSystem_Speech ( const std::string & masterName )

Default constructor.

Parameters

masterName stem-name used to open up ports.

Definition at line 4 of file subSystem_speech.cpp.

Member Function Documentation

◆ Close()

void icubclient::SubSystem_Speech::Close ( )

virtual

Clean up resources.

Implements icubclient::SubSystem.

Definition at line 77 of file subSystem_speech.cpp.

◆ connect()

bool icubclient::SubSystem_Speech::connect ( )

virtual

Implements icubclient::SubSystem.

Definition at line 11 of file subSystem_speech.cpp.

◆ isSpeaking()

bool icubclient::SubSystem_Speech::isSpeaking ( )

Check if iSpeak is currently speaking.

Definition at line 70 of file subSystem_speech.cpp.

◆ SetOptions()

void icubclient::SubSystem_Speech::SetOptions ( const std::string & custom )

Set the command line options sent by iSpeak.

Parameters

custom The options as a string

Definition at line 58 of file subSystem_speech.cpp.

◆ TTS()

void icubclient::SubSystem_Speech::TTS	(	const std::string &	text,
		bool	shouldWait = `true`
	)

virtual

Produce text to speech output.

Parameters

text	The text to be said.
shouldWait	Is the function blocking until the end of the sentence or not.

Definition at line 27 of file subSystem_speech.cpp.

Member Data Documentation

◆ tts

yarp::os::Port icubclient::SubSystem_Speech::tts

protected

Port to /iSpeak.

Definition at line 41 of file subSystem_speech.h.

◆ icubclient::SubSystem_Speech_eSpeak

class icubclient::SubSystem_Speech_eSpeak

SubSystem for speech synthesis with emotional tuning of speed and pitch using eSpeak.

Definition at line 79 of file subSystem_speech.h.

Inheritance diagram for icubclient::SubSystem_Speech_eSpeak:

Public Member Functions
	SubSystem_Speech_eSpeak (std::string &masterName)

void	SetVoiceParameters (int speed=100, int pitch=50, std::string voice="en")

Public Member Functions inherited from icubclient::SubSystem_Speech
	SubSystem_Speech (const std::string &masterName)
	Default constructor. More...

virtual bool	connect ()

virtual void	TTS (const std::string &text, bool shouldWait=true)
	Produce text to speech output. More...

void	SetOptions (const std::string &custom)
	Set the command line options sent by iSpeak. More...

bool	isSpeaking ()
	Check if iSpeak is currently speaking. More...

virtual void	Close ()
	Clean up resources. More...

Public Member Functions inherited from icubclient::SubSystem
	SubSystem (const std::string &masterName)

virtual	~SubSystem ()

bool	Connect ()
	Connects the subsystem to its "host". More...

std::string	getType () const
	Return the type of the subsystem as string. More...

Protected Attributes
int	m_speed

int	m_pitch

Protected Attributes inherited from icubclient::SubSystem_Speech
yarp::os::Port	tts
	Port to /iSpeak. More...

Protected Attributes inherited from icubclient::SubSystem
std::string	m_masterName

std::string	m_type

yarp::os::RpcClient	portRPC

Additional Inherited Members

Constructor & Destructor Documentation

◆ SubSystem_Speech_eSpeak()

icubclient::SubSystem_Speech_eSpeak::SubSystem_Speech_eSpeak ( std::string & masterName )

inline

Definition at line 87 of file subSystem_speech.h.

Member Function Documentation

◆ SetVoiceParameters()

void icubclient::SubSystem_Speech_eSpeak::SetVoiceParameters	(	int	speed = `100`,
		int	pitch = `50`,
		std::string	voice = `"en"`
	)

inline

Definition at line 93 of file subSystem_speech.h.

Member Data Documentation

◆ m_pitch

int icubclient::SubSystem_Speech_eSpeak::m_pitch

protected

Definition at line 83 of file subSystem_speech.h.

◆ m_speed

int icubclient::SubSystem_Speech_eSpeak::m_speed

protected

Definition at line 82 of file subSystem_speech.h.

Classes

Detailed Description

Class Documentation

◆ icubclient::SubSystem

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ SubSystem()

◆ ~SubSystem()

Member Function Documentation

◆ Close()

◆ connect()

◆ Connect()

◆ getType()

Member Data Documentation

◆ m_masterName

◆ m_type

◆ portRPC

◆ icubclient::SubSystem_agentDetector

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ SubSystem_agentDetector()

Member Function Documentation

◆ changeDefaultName()

◆ Close()

◆ connect()

◆ pause()

◆ resume()

Friends And Related Function Documentation

◆ ICubClient

◆ icubclient::SubSystem_ARE

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ SubSystem_ARE()

◆ ~SubSystem_ARE()

Member Function Documentation

◆ appendCartesianTarget()

◆ applySafetyMargins()

◆ Close()

◆ connect()

◆ drop()

◆ dropOn()

◆ expect()

◆ getTableHeight()

◆ give()

◆ home()

◆ impedance()

◆ look()

◆ observe()

◆ point()

◆ push()

◆ selectHandCorrectTarget()

◆ sendCmd()

◆ setExecTime()

◆ take()

◆ track()

◆ waving()

Member Data Documentation

◆ lastlyUsedHand

◆ opc

◆ portCalib

◆ portCmd

◆ portGet

◆ portRPC

◆ icubclient::SubSystem_babbling

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ SubSystem_babbling()

Member Function Documentation

◆ babbling()

◆ babblingArm()

◆ Close()