PredictEventListener.cpp

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/*
 * Copyright (C) 2007-2010 RobotCub Consortium, European Commission FP6 Project IST-004370
 * author:  Arjan Gijsberts
 * email:   arjan.gijsberts@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */
 
#include <iostream>
 
#include <yarp/os/Bottle.h>
 
#include "iCub/learningMachine/PredictEventListener.h"
 
namespace iCub {
namespace learningmachine {
 
void PredictEventListener::handle(PredictEvent& e) {
    if(this->verbose) {
        std::cout << "PredictEvent: " << e.toString() << std::endl;
    }
    yarp::os::Bottle b, p;
    this->vectorToBottle(e.getInput(), b.addList());
    p = b.addList();
    this->vectorToBottle(e.getPredicted().getPrediction(), p.addList());
    this->vectorToBottle(e.getPredicted().getVariance(), p.addList());
    this->port.write(b);
}
 
} // learningmachine
} // iCub