iolReachingCalibration_IDL IDL Interface to IOL Reaching Calibration services. More...

#include <iolReachingCalibration_IDL.h>

Inherits yarp::os::Wire.

Inherited by Calibrator.

Public Member Functions
virtual bool	calibration_start (const std::string &hand, const std::string &object, const std::string &entry="")
	Initiate the calibration. More...

virtual bool	calibration_stop ()
	Finish the calibration. More...

virtual bool	calibration_clear (const std::string &hand, const std::string &object, const std::string &entry="")
	Clear calibration. More...

virtual std::vector< std::string >	calibration_list ()
	List available calibrations. More...

virtual CalibPointReq	get_location (const std::string &hand, const std::string &object, const std::string &entry="")
	Retrieve the calibrated object location. More...

virtual CalibPointReq	get_location_nolook (const std::string &entry, const double x, const double y, const double z, const bool invert=0)
	Retrieve the calibrated object location. More...

virtual CalibMatrixReq	get_matrix (const std::string &entry)
	Retrieve the calibration matrix. More...

virtual bool	add_pair (const std::string &entry, const double xi, const double yi, const double zi, const double xo, const double yo, const double zo)
	Add an input-ouput pair to the location map. More...

virtual bool	save ()
	Save calibration on file. More...

virtual bool	load ()
	Load calibration from file. More...

virtual std::vector< std::string >	help (const std::string &functionName="--all")

bool	read (yarp::os::ConnectionReader &connection) override

Detailed Description

iolReachingCalibration_IDL IDL Interface to IOL Reaching Calibration services.

Definition at line 26 of file iolReachingCalibration_IDL.h.

Member Function Documentation

◆ add_pair()

virtual bool iolReachingCalibration_IDL::add_pair	(	const std::string &	entry,
		const double	xi,
		const double	yi,
		const double	zi,
		const double	xo,
		const double	yo,
		const double	zo
	)

virtual

Add an input-ouput pair to the location map.

Parameters

entry	selects the entry in the table.
xi	the input point x-coordinate.
yi	the input point y-coordinate.
zi	the input point z-coordinate.
xo	the output point x-coordinate.
yo	the output point y-coordinate.
zo	the output point z-coordinate.

Returns: true/false on success/failure.

◆ calibration_clear()

virtual bool iolReachingCalibration_IDL::calibration_clear	(	const std::string &	hand,
		const std::string &	object,
		const std::string &	entry = `""`
	)

virtual

Clear calibration.

Parameters

hand	can be "left" or "right".
object	selects the object.
entry	forces to specify the entry name in the calibration map.

Returns: true/false on success/failure.

◆ calibration_list()

virtual std::vector<std::string> iolReachingCalibration_IDL::calibration_list ( )

virtual

List available calibrations.

Returns: the list of available calibrations.

◆ calibration_start()

virtual bool iolReachingCalibration_IDL::calibration_start	(	const std::string &	hand,
		const std::string &	object,
		const std::string &	entry = `""`
	)

virtual

Initiate the calibration.

Parameters

hand	can be "left" or "right".
object	selects the object.
entry	forces to specify the entry name in the calibration map.

Returns: true/false on success/failure.

◆ calibration_stop()

virtual bool iolReachingCalibration_IDL::calibration_stop ( )

virtual

Finish the calibration.

Returns: true/false on success/failure.

◆ get_location()

virtual CalibPointReq iolReachingCalibration_IDL::get_location	(	const std::string &	hand,
		const std::string &	object,
		const std::string &	entry = `""`
	)

virtual

Retrieve the calibrated object location.

The robot will bring the object in foveation before computing the calibration.

Parameters

hand	can be "left" or "right".
object	selects the object.
entry	forces to specify the entry name in the calibration map.

Returns: the requested point in CalibPointReq format.

◆ get_location_nolook()

virtual CalibPointReq iolReachingCalibration_IDL::get_location_nolook	(	const std::string &	entry,
		const double	x,
		const double	y,
		const double	z,
		const bool	invert = `0`
	)

virtual

Retrieve the calibrated object location.

No foveation is performed before computing the calibrated values.

Parameters

entry	selects the entry in the table.
x	the input point x-coordinate.
y	the input point y-coordinate.
z	the input point z-coordinate.
invert	if true invert the input/output map.

Returns: the requested point in CalibPointReq format.

◆ get_matrix()

virtual CalibMatrixReq iolReachingCalibration_IDL::get_matrix ( const std::string & entry )

virtual

Retrieve the calibration matrix.

Parameters

entry selects the entry in the table.

Returns: the requested calibration matrix in CalibMatrixReq format.

◆ load()

virtual bool iolReachingCalibration_IDL::load ( )

virtual

Load calibration from file.

Returns: true/false on success/failure.

◆ save()

virtual bool iolReachingCalibration_IDL::save ( )

virtual

Save calibration on file.

Returns: true/false on success/failure.

The documentation for this class was generated from the following file:

/home/runner/work/iol/iol/gh-pages/src/iolReachingCalibration/idl_dox/iolReachingCalibration_IDL.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ add_pair()

◆ calibration_clear()

◆ calibration_list()

◆ calibration_start()

◆ calibration_stop()

◆ get_location()

◆ get_location_nolook()

◆ get_matrix()

◆ load()

◆ save()