Module to detect touch activations to robot's body parts Version:1.0 More...

Collaboration diagram for touchDetector:

Classes
class	TouchDetectorModule

class	TouchDetectorThread

Detailed Description

Module to detect touch activations to robot's body parts Version:1.0

Author: Bertrand Higy bertr.nosp@m.and..nosp@m.higy@.nosp@m.iit..nosp@m.it

Copyright: Released under the terms of the GNU GPL v2.0

Description

This module provides wrappers of procedures to count the number of activations to robot 's body parts through some yarp ports.

Parameters

– name : name of the module

Input Ports

/touchDetector/torso:i [Bottle] [default carrier:udp]: Get touch activation from torso
/touchDetector/left_arm:i [Bottle] [default carrier:udp]: Get touch activation from left arm
/touchDetector/right_arm:i [Bottle] [default carrier:udp]: Get touch activation from right arm
/touchDetector/left_forearm:i [Bottle] [default carrier:udp]: Get touch activation from left forearm
/touchDetector/right_forearm:i [Bottle] [default carrier:udp]: Get touch activation from right forearm
/touchDetector/left_hand:i [Bottle] [default carrier:udp]: Get touch activation from left hand
/touchDetector/right_hand:i [Bottle] [default carrier:udp]: Get touch activation from right hand

Output Ports

/touchDetector/touch:o [Bottle] [default carrier:udp]: Stream out the number of activations
/touchDetector/touchClean:o [Bottle] [default carrier:udp]: Stream out the touched taxel ID

Services

Class Documentation

◆ TouchDetectorModule

class TouchDetectorModule

Definition at line 31 of file touchDetectorModule.h.

Inheritance diagram for TouchDetectorModule:

Public Member Functions
bool	configure (yarp::os::ResourceFinder &rf)

bool	interruptModule ()

bool	close ()

bool	updateModule ()

Protected Member Functions
void	initializeParameters (yarp::os::ResourceFinder &rf)

bool	openPorts ()

Protected Attributes
int	period

double	threshold

int	taxelThreshold

std::string	moduleName

std::string	torsoPortName
	name of torso port More...

std::string	leftArmPortName
	name of left arm port More...

std::string	rightArmPortName
	name of right arm port More...

std::string	leftForearmPortName
	name of left forearm port More...

std::string	rightForearmPortName
	name of right forearm port More...

std::string	leftHandPortName
	name of left hand port More...

std::string	rightHandPortName
	name of right hand port More...

std::string	touchPortName
	name of touchport More...

std::string	touchPortCleanName
	name of touchportClean More...

std::string	clustersConfFilepath
	string for path to cluster configure file More...

yarp::os::BufferedPort< yarp::os::Bottle >	torsoPort
	Yarp BufferedPort of bottle for input torso activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	leftArmPort
	Yarp BufferedPort of bottle for input left arm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	rightArmPort
	Yarp BufferedPort of bottle for input right arm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	leftForearmPort
	Yarp BufferedPort of bottle for input left forearm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	rightForearmPort
	Yarp BufferedPort of bottle for input right forearm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	leftHandPort
	Yarp BufferedPort of bottle for input left hand activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	rightHandPort
	Yarp BufferedPort of bottle for input right hand activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	touchPort
	Yarp BufferedPort of bottle for output touched activations. More...

yarp::os::BufferedPort< yarp::os::Bottle >	touchPortCleaned
	Yarp BufferedPort of bottle for output touched taxel. More...

TouchDetectorThread *	thread

Member Function Documentation

◆ close()

bool TouchDetectorModule::close ( )

Definition at line 60 of file touchDetectorModule.cpp.

◆ configure()

bool TouchDetectorModule::configure ( yarp::os::ResourceFinder & rf )

Definition at line 24 of file touchDetectorModule.cpp.

◆ initializeParameters()

void TouchDetectorModule::initializeParameters ( yarp::os::ResourceFinder & rf )

protected

Definition at line 80 of file touchDetectorModule.cpp.

◆ interruptModule()

bool TouchDetectorModule::interruptModule ( )

Definition at line 46 of file touchDetectorModule.cpp.

◆ openPorts()

bool TouchDetectorModule::openPorts ( )

protected

Definition at line 111 of file touchDetectorModule.cpp.

◆ updateModule()

bool TouchDetectorModule::updateModule ( )

Definition at line 41 of file touchDetectorModule.cpp.

Member Data Documentation

◆ clustersConfFilepath

std::string TouchDetectorModule::clustersConfFilepath

protected

string for path to cluster configure file

Definition at line 55 of file touchDetectorModule.h.

◆ leftArmPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::leftArmPort

protected

Yarp BufferedPort of bottle for input left arm activations.

Definition at line 59 of file touchDetectorModule.h.

◆ leftArmPortName

std::string TouchDetectorModule::leftArmPortName

protected

name of left arm port

Definition at line 47 of file touchDetectorModule.h.

◆ leftForearmPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::leftForearmPort

protected

Yarp BufferedPort of bottle for input left forearm activations.

Definition at line 61 of file touchDetectorModule.h.

◆ leftForearmPortName

std::string TouchDetectorModule::leftForearmPortName

protected

name of left forearm port

Definition at line 49 of file touchDetectorModule.h.

◆ leftHandPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::leftHandPort

protected

Yarp BufferedPort of bottle for input left hand activations.

Definition at line 63 of file touchDetectorModule.h.

◆ leftHandPortName

std::string TouchDetectorModule::leftHandPortName

protected

name of left hand port

Definition at line 51 of file touchDetectorModule.h.

◆ moduleName

std::string TouchDetectorModule::moduleName

protected

Definition at line 45 of file touchDetectorModule.h.

◆ period

int TouchDetectorModule::period

protected

Definition at line 42 of file touchDetectorModule.h.

◆ rightArmPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::rightArmPort

protected

Yarp BufferedPort of bottle for input right arm activations.

Definition at line 60 of file touchDetectorModule.h.

◆ rightArmPortName

std::string TouchDetectorModule::rightArmPortName

protected

name of right arm port

Definition at line 48 of file touchDetectorModule.h.

◆ rightForearmPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::rightForearmPort

protected

Yarp BufferedPort of bottle for input right forearm activations.

Definition at line 62 of file touchDetectorModule.h.

◆ rightForearmPortName

std::string TouchDetectorModule::rightForearmPortName

protected

name of right forearm port

Definition at line 50 of file touchDetectorModule.h.

◆ rightHandPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::rightHandPort

protected

Yarp BufferedPort of bottle for input right hand activations.

Definition at line 64 of file touchDetectorModule.h.

◆ rightHandPortName

std::string TouchDetectorModule::rightHandPortName

protected

name of right hand port

Definition at line 52 of file touchDetectorModule.h.

◆ taxelThreshold

int TouchDetectorModule::taxelThreshold

protected

Definition at line 44 of file touchDetectorModule.h.

◆ thread

TouchDetectorThread* TouchDetectorModule::thread

protected

Definition at line 67 of file touchDetectorModule.h.

◆ threshold

double TouchDetectorModule::threshold

protected

Definition at line 43 of file touchDetectorModule.h.

◆ torsoPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::torsoPort

protected

Yarp BufferedPort of bottle for input torso activations.

Definition at line 58 of file touchDetectorModule.h.

◆ torsoPortName

std::string TouchDetectorModule::torsoPortName

protected

name of torso port

Definition at line 46 of file touchDetectorModule.h.

◆ touchPort

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::touchPort

protected

Yarp BufferedPort of bottle for output touched activations.

Definition at line 65 of file touchDetectorModule.h.

◆ touchPortCleaned

yarp::os::BufferedPort<yarp::os::Bottle> TouchDetectorModule::touchPortCleaned

protected

Yarp BufferedPort of bottle for output touched taxel.

Definition at line 66 of file touchDetectorModule.h.

◆ touchPortCleanName

std::string TouchDetectorModule::touchPortCleanName

protected

name of touchportClean

Definition at line 54 of file touchDetectorModule.h.

◆ touchPortName

std::string TouchDetectorModule::touchPortName

protected

name of touchport

Definition at line 53 of file touchDetectorModule.h.

◆ TouchDetectorThread

class TouchDetectorThread

Definition at line 32 of file touchDetectorThread.h.

Inheritance diagram for TouchDetectorThread:

Public Member Functions
	TouchDetectorThread (yarp::os::BufferedPort< yarp::os::Bottle > torsoPort, yarp::os::BufferedPort< yarp::os::Bottle > leftArmPort, yarp::os::BufferedPort< yarp::os::Bottle > rightArmPort, yarp::os::BufferedPort< yarp::os::Bottle > leftForearmPort, yarp::os::BufferedPort< yarp::os::Bottle > rightForearmPort, yarp::os::BufferedPort< yarp::os::Bottle > leftHandPort, yarp::os::BufferedPort< yarp::os::Bottle > rightHandPort, yarp::os::BufferedPort< yarp::os::Bottle > touchPort, yarp::os::BufferedPort< yarp::os::Bottle > *touchPortCleaned, int period, std::string clustersConfFilepath, double threshold, int taxelThreshold)

void	run ()

bool	threadInit ()

Protected Member Functions
bool	readTaxelsMapping (std::string filename)
	readTaxelsMapping Read taxels map from configure file, which relates to nbBodyParts and bodyParts More...

int	getBodyPartId (std::string bodyPartName)
	getBodyPartId Obtain the ID of body parts, which are "torso", "left_arm", "right_arm", "left_forearm", "right_forearm", "left_hand", "right_hand" More...

void	updateMapping (int bodyPart, int firstTaxel, int lastTaxel, int cluster)
	updateMapping Change all taxels of a body part to clusterID More...

void	countActivations (int bodyPart, yarp::os::Bottle *data, std::vector< int > &activations)
	countActivations Counts number of activations to a body part through a buffered port of that part More...

void	processPort (int portNum, yarp::os::BufferedPort< yarp::os::Bottle > *port, std::vector< int > &activations)
	processPort Process port of body part to receive activations to that body part More...

Protected Attributes
int	nbClusters

double	threshold

int	taxelThreshold
	integer value of touched threshold More...

std::string	clustersConfFilepath
	string value of the path to configure file of clusters More...

std::vector< int >	taxels2Clusters [7]
	standard vector of integer containing the taxel IDs in form of cluster ID More...

yarp::os::BufferedPort< yarp::os::Bottle > *	torsoPort
	Yarp BufferedPort of bottle for input torso activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	leftArmPort
	Yarp BufferedPort of bottle for input left arm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	rightArmPort
	Yarp BufferedPort of bottle for input right arm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	leftForearmPort
	Yarp BufferedPort of bottle for input left forearm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	rightForearmPort
	Yarp BufferedPort of bottle for input right forearm activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	leftHandPort
	Yarp BufferedPort of bottle for input left hand activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	rightHandPort
	Yarp BufferedPort of bottle for input right hand activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	touchPort
	Yarp BufferedPort of bottle for output touched activations. More...

yarp::os::BufferedPort< yarp::os::Bottle > *	touchPortCleaned
	Yarp BufferedPort of bottle for output touched taxel. More...

Static Protected Attributes
static const int	noCluster = -1

static const int	nbBodyParts = 7

static const char *	bodyParts [7] = {"torso", "left_arm", "right_arm", "left_forearm", "right_forearm", "left_hand", "right_hand"}

static const int	nbTaxels [7] = {4 * 192, 4 * 192, 4 * 192, 2 * 192, 2 * 192, 192, 192}

Constructor & Destructor Documentation

◆ TouchDetectorThread()

TouchDetectorThread::TouchDetectorThread	(	yarp::os::BufferedPort< yarp::os::Bottle > *	torsoPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	leftArmPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	rightArmPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	leftForearmPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	rightForearmPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	leftHandPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	rightHandPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	touchPort,
		yarp::os::BufferedPort< yarp::os::Bottle > *	touchPortCleaned,
		int	period,
		std::string	clustersConfFilepath,
		double	threshold,
		int	taxelThreshold
	)

Definition at line 37 of file touchDetectorThread.cpp.

Member Function Documentation

◆ countActivations()

void TouchDetectorThread::countActivations	(	int	bodyPart,
		yarp::os::Bottle *	data,
		std::vector< int > &	activations
	)

protected

countActivations Counts number of activations to a body part through a buffered port of that part

Parameters

bodyPart	An integer value of body part ID to count
data	YARP bottle contains data from the port of the body part
activations	An integer value for number of activations

Definition at line 186 of file touchDetectorThread.cpp.

◆ getBodyPartId()

int TouchDetectorThread::getBodyPartId ( std::string bodyPartName )

protected

getBodyPartId Obtain the ID of body parts, which are "torso", "left_arm", "right_arm", "left_forearm", "right_forearm", "left_hand", "right_hand"

Parameters

bodyPartName String value of the name of body part to get ID

Returns: Integer value of ID

Definition at line 100 of file touchDetectorThread.cpp.

◆ processPort()

void TouchDetectorThread::processPort	(	int	portNum,
		yarp::os::BufferedPort< yarp::os::Bottle > *	port,
		std::vector< int > &	activations
	)

protected

processPort Process port of body part to receive activations to that body part

Parameters

portNum	An integer value of body part ID to count
activations	A vector of integer values for number of activations
port	The port from which to process data from

See also: countActivations();

Definition at line 173 of file touchDetectorThread.cpp.

◆ readTaxelsMapping()

bool TouchDetectorThread::readTaxelsMapping ( std::string filename )

protected

readTaxelsMapping Read taxels map from configure file, which relates to nbBodyParts and bodyParts

Parameters

filename Name of configure file of taxels

Returns: True for all case

Definition at line 65 of file touchDetectorThread.cpp.

◆ run()

void TouchDetectorThread::run ( )

Definition at line 127 of file touchDetectorThread.cpp.

◆ threadInit()

bool TouchDetectorThread::threadInit ( )

Definition at line 50 of file touchDetectorThread.cpp.

◆ updateMapping()

void TouchDetectorThread::updateMapping	(	int	bodyPart,
		int	firstTaxel,
		int	lastTaxel,
		int	cluster
	)

protected

updateMapping Change all taxels of a body part to clusterID

Parameters

bodyPart	An integer value of body part ID
firstTaxel	An integer value of the 1st taxel of the body part
lastTaxel	An integer value of the last taxel of the body part
cluster	An integer value of the cluster ID

See also: taxels2Clusters

Definition at line 119 of file touchDetectorThread.cpp.

Member Data Documentation

◆ bodyParts

const char * TouchDetectorThread::bodyParts = {"torso", "left_arm", "right_arm", "left_forearm", "right_forearm", "left_hand", "right_hand"}

staticprotected

Definition at line 42 of file touchDetectorThread.h.

◆ clustersConfFilepath

std::string TouchDetectorThread::clustersConfFilepath

protected

string value of the path to configure file of clusters

Definition at line 48 of file touchDetectorThread.h.

◆ leftArmPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::leftArmPort

protected

Yarp BufferedPort of bottle for input left arm activations.

Definition at line 53 of file touchDetectorThread.h.

◆ leftForearmPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::leftForearmPort

protected

Yarp BufferedPort of bottle for input left forearm activations.

Definition at line 55 of file touchDetectorThread.h.

◆ leftHandPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::leftHandPort

protected

Yarp BufferedPort of bottle for input left hand activations.

Definition at line 57 of file touchDetectorThread.h.

◆ nbBodyParts

const int TouchDetectorThread::nbBodyParts = 7

staticprotected

Definition at line 41 of file touchDetectorThread.h.

◆ nbClusters

int TouchDetectorThread::nbClusters

protected

Definition at line 45 of file touchDetectorThread.h.

◆ nbTaxels

const int TouchDetectorThread::nbTaxels = {4 * 192, 4 * 192, 4 * 192, 2 * 192, 2 * 192, 192, 192}

staticprotected

Definition at line 43 of file touchDetectorThread.h.

◆ noCluster

const int TouchDetectorThread::noCluster = -1

staticprotected

Definition at line 40 of file touchDetectorThread.h.

◆ rightArmPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::rightArmPort

protected

Yarp BufferedPort of bottle for input right arm activations.

Definition at line 54 of file touchDetectorThread.h.

◆ rightForearmPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::rightForearmPort

protected

Yarp BufferedPort of bottle for input right forearm activations.

Definition at line 56 of file touchDetectorThread.h.

◆ rightHandPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::rightHandPort

protected

Yarp BufferedPort of bottle for input right hand activations.

Definition at line 58 of file touchDetectorThread.h.

◆ taxels2Clusters

std::vector<int> TouchDetectorThread::taxels2Clusters[7]

protected

standard vector of integer containing the taxel IDs in form of cluster ID

Definition at line 49 of file touchDetectorThread.h.

◆ taxelThreshold

int TouchDetectorThread::taxelThreshold

protected

integer value of touched threshold

Definition at line 47 of file touchDetectorThread.h.

◆ threshold

double TouchDetectorThread::threshold

protected

Definition at line 46 of file touchDetectorThread.h.

◆ torsoPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::torsoPort

protected

Yarp BufferedPort of bottle for input torso activations.

Definition at line 52 of file touchDetectorThread.h.

◆ touchPort

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::touchPort

protected

Yarp BufferedPort of bottle for output touched activations.

Definition at line 59 of file touchDetectorThread.h.

◆ touchPortCleaned

yarp::os::BufferedPort<yarp::os::Bottle>* TouchDetectorThread::touchPortCleaned

protected

Yarp BufferedPort of bottle for output touched taxel.

Definition at line 60 of file touchDetectorThread.h.

Classes

Detailed Description

Description

Parameters

Input Ports

Output Ports

Services

Class Documentation

◆ TouchDetectorModule

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ close()

◆ configure()

◆ initializeParameters()

◆ interruptModule()

◆ openPorts()

◆ updateModule()

Member Data Documentation

◆ clustersConfFilepath

◆ leftArmPort

◆ leftArmPortName

◆ leftForearmPort

◆ leftForearmPortName

◆ leftHandPort

◆ leftHandPortName

◆ moduleName

◆ period

◆ rightArmPort

◆ rightArmPortName

◆ rightForearmPort

◆ rightForearmPortName

◆ rightHandPort

◆ rightHandPortName

◆ taxelThreshold

◆ thread

◆ threshold

◆ torsoPort

◆ torsoPortName

◆ touchPort

◆ touchPortCleaned

◆ touchPortCleanName

◆ touchPortName

◆ TouchDetectorThread

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Constructor & Destructor Documentation

◆ TouchDetectorThread()

Member Function Documentation

◆ countActivations()

◆ getBodyPartId()

◆ processPort()

◆ readTaxelsMapping()

◆ run()

◆ threadInit()

◆ updateMapping()

Member Data Documentation

◆ bodyParts

◆ clustersConfFilepath

◆ leftArmPort

◆ leftForearmPort

◆ leftHandPort

◆ nbBodyParts

◆ nbClusters

◆ nbTaxels

◆ noCluster

◆ rightArmPort

◆ rightForearmPort

◆ rightHandPort

◆ taxels2Clusters

◆ taxelThreshold

◆ threshold

◆ torsoPort

◆ touchPort

◆ touchPortCleaned