The opcPopulator can be used to spawn new entities in simulation and control their parameters. More...
Collaboration diagram for opcPopulator:
Classes | |
| class | opcPopulator |
Detailed Description
The opcPopulator can be used to spawn new entities in simulation and control their parameters.
This allows testing new functionalities in a controlled environment, without the noise encountered when using the real robot. Version:1.0
- Copyright
- Released under the terms of the GNU GPL v2.0
Description
Parameters
Input Ports
Output Ports
Services
Class Documentation
◆ opcPopulator
| class opcPopulator |
Definition at line 13 of file opcPopulator.h.
Inheritance diagram for opcPopulator:
Public Member Functions | |
| bool | configure (yarp::os::ResourceFinder &rf) |
| bool | interruptModule () |
| bool | close () |
| double | getPeriod () |
| bool | updateModule () |
| bool | populateEntityRandom (const yarp::os::Bottle &bInput) |
| populateEntityRandom populate entity from Bottle More... | |
| bool | populateRedBall () |
| populateRedBall populate object with name "red_ball" at location (-0.4, 0.25, 0.0); is_present=0.0; color=(250,0,0) More... | |
| bool | populateSpecific () |
| populateSpecific populate four objects ("bottom_left", "bottom_right", according to X_obj, Y_obj, Z_obj, and "top_left", "top_right" according to X_ag, Y_ag, Z_ag More... | |
| bool | populateTwoUnknowns () |
| populateTwoUnknowns populate two objects: "unknown_1" at (-0.4, 0.25, 0.0) and "unknown_2" at (-0.4, -0.25, 0.0), both present and randomly colored More... | |
| bool | addUnknownEntity (const yarp::os::Bottle &bInput) |
| addUnknownEntity populate object / agent at pseudo-random location, pseudo-randomly colored More... | |
| bool | setAttributeEntity (const yarp::os::Bottle &bInput, std::function< void(icubclient::Object *, double)> f_setter) |
| setAttributeEntity set an attribute of an object More... | |
| bool | respond (const yarp::os::Bottle &cmd, yarp::os::Bottle &reply) |
Protected Attributes | |
| icubclient::ICubClient * | iCub |
| double | period |
| yarp::os::Port | rpc |
| double | X_obj |
| X coordinate of object used within populateSpecific() for bottom_left and bottom_right. More... | |
| double | Y_obj |
| Y coordinate of object used within populateSpecific() for bottom_left (inverted) and bottom_right. More... | |
| double | Z_obj |
| Z coordinate of object used within populateSpecific() for bottom_left and bottom_right. More... | |
| double | X_ag |
| X coordinate of object used within populateSpecific() for top_left and top_right. More... | |
| double | Y_ag |
| Y coordinate of object used within populateSpecific() for top_left (inverted) and top_right. More... | |
| double | Z_ag |
| Z coordinate of object used within populateSpecific() for top_left and top_right. More... | |
| double | noise |
| (Gaussian) noise to be added to X_obj, Y_obj, Z_obj, X_ag, Y_ag, Z_ag in populateSpecific() More... | |
Member Function Documentation
◆ addUnknownEntity()
| bool opcPopulator::addUnknownEntity | ( | const yarp::os::Bottle & | bInput | ) |
addUnknownEntity populate object / agent at pseudo-random location, pseudo-randomly colored
- Parameters
-
bInput "addUnknownEntity type" where type is "agent" or "object"
- Returns
- true if successful
Definition at line 178 of file opcPopulator.cpp.
◆ close()
| bool opcPopulator::close | ( | ) |
Definition at line 57 of file opcPopulator.cpp.
◆ configure()
| bool opcPopulator::configure | ( | yarp::os::ResourceFinder & | rf | ) |
Definition at line 10 of file opcPopulator.cpp.
◆ getPeriod()
|
inline |
Definition at line 38 of file opcPopulator.h.
◆ interruptModule()
|
inline |
Definition at line 31 of file opcPopulator.h.
◆ populateEntityRandom()
| bool opcPopulator::populateEntityRandom | ( | const yarp::os::Bottle & | bInput | ) |
populateEntityRandom populate entity from Bottle
- Parameters
-
bInput Bottle containing type "populateEntityRandom type name" where type is "agent" or "object" and name is the name of the new entity
- Returns
- true if successful
Definition at line 133 of file opcPopulator.cpp.
◆ populateRedBall()
| bool opcPopulator::populateRedBall | ( | ) |
populateRedBall populate object with name "red_ball" at location (-0.4, 0.25, 0.0); is_present=0.0; color=(250,0,0)
- Returns
- true if successful
Definition at line 325 of file opcPopulator.cpp.
◆ populateSpecific()
| bool opcPopulator::populateSpecific | ( | ) |
populateSpecific populate four objects ("bottom_left", "bottom_right", according to X_obj, Y_obj, Z_obj, and "top_left", "top_right" according to X_ag, Y_ag, Z_ag
- Returns
- true if successful
Definition at line 249 of file opcPopulator.cpp.
◆ populateTwoUnknowns()
| bool opcPopulator::populateTwoUnknowns | ( | ) |
populateTwoUnknowns populate two objects: "unknown_1" at (-0.4, 0.25, 0.0) and "unknown_2" at (-0.4, -0.25, 0.0), both present and randomly colored
- Returns
- true if successful
Definition at line 298 of file opcPopulator.cpp.
◆ respond()
| bool opcPopulator::respond | ( | const yarp::os::Bottle & | cmd, |
| yarp::os::Bottle & | reply | ||
| ) |
Definition at line 65 of file opcPopulator.cpp.
◆ setAttributeEntity()
| bool opcPopulator::setAttributeEntity | ( | const yarp::os::Bottle & | bInput, |
| std::function< void(icubclient::Object *, double)> | f_setter | ||
| ) |
setAttributeEntity set an attribute of an object
- Parameters
-
bInput Bottle with format "setAttributeEntity name targetValue" where name defines the object and targetValue defines the new value f_setter function pointer to function to be called, e.g. to icubclient::Object::setSaliency()
- Returns
- true if successful
Definition at line 224 of file opcPopulator.cpp.
◆ updateModule()
| bool opcPopulator::updateModule | ( | ) |
Definition at line 129 of file opcPopulator.cpp.
Member Data Documentation
◆ iCub
|
protected |
Definition at line 16 of file opcPopulator.h.
◆ noise
|
protected |
(Gaussian) noise to be added to X_obj, Y_obj, Z_obj, X_ag, Y_ag, Z_ag in populateSpecific()
Definition at line 26 of file opcPopulator.h.
◆ period
|
protected |
Definition at line 17 of file opcPopulator.h.
◆ rpc
|
protected |
Definition at line 18 of file opcPopulator.h.
◆ X_ag
|
protected |
X coordinate of object used within populateSpecific() for top_left and top_right.
Definition at line 23 of file opcPopulator.h.
◆ X_obj
|
protected |
X coordinate of object used within populateSpecific() for bottom_left and bottom_right.
Definition at line 20 of file opcPopulator.h.
◆ Y_ag
|
protected |
Y coordinate of object used within populateSpecific() for top_left (inverted) and top_right.
Definition at line 24 of file opcPopulator.h.
◆ Y_obj
|
protected |
Y coordinate of object used within populateSpecific() for bottom_left (inverted) and bottom_right.
Definition at line 21 of file opcPopulator.h.
◆ Z_ag
|
protected |
Z coordinate of object used within populateSpecific() for top_left and top_right.
Definition at line 25 of file opcPopulator.h.
◆ Z_obj
|
protected |
Z coordinate of object used within populateSpecific() for bottom_left and bottom_right.
Definition at line 22 of file opcPopulator.h.
