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36 #include <yarp/os/Log.h>
37 #include <yarp/math/Math.h>
64 yarp::sig::Matrix
FoR;
89 Taxel(
const yarp::sig::Vector &_position,
const yarp::sig::Vector &_normal);
97 Taxel(
const yarp::sig::Vector &_position,
const yarp::sig::Vector &_normal,
const int &_id);
140 yarp::sig::Vector
getPx();
146 yarp::sig::Matrix
getFoR();
158 bool setPosition(
const yarp::sig::Vector &_Position);
164 bool setNormal(
const yarp::sig::Vector &_Normal);
176 bool setPx(
const yarp::sig::Vector &_px);
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
bool setWRFPosition(const yarp::sig::Vector &_WRFPosition)
Sets the Position of the taxel in the root FoR.
bool setID(int _ID)
Sets the ID of the taxel.
virtual void print(int verbosity=0)
Print Method.
yarp::sig::Vector WRFPosition
bool setPosition(const yarp::sig::Vector &_Position)
Sets the Position of the taxel in the limb's FoR.
yarp::sig::Vector getPosition()
Gets the Position of the taxel in the limb's FoR.
bool setNormal(const yarp::sig::Vector &_Normal)
Sets the Normal of the taxel in the limb's FoR.
bool setPx(const yarp::sig::Vector &_px)
Sets the u,v position of the taxel in one of the eyes.
yarp::sig::Vector getNormal()
Gets the Normal of the taxel in the limb's FoR.
Taxel()
Default Constructor.
yarp::sig::Vector getWRFPosition()
Gets the Position of the taxel in the root FoR.
yarp::sig::Matrix getFoR()
Gets the Frame of Reference of the taxel.
void setFoR()
Compute and set the taxel's reference frame (from its position and its normal vector)
string(REPLACE "-rdynamic" "" CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "${CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS}") include_directories($
yarp::sig::Vector getPx()
Gets the u,v position of the taxel in one of the eyes.
virtual std::string toString(int verbosity=0)
toString Method
yarp::sig::Vector Position
Taxel & operator=(const Taxel &_t)
Copy Operator.
int getID()
Gets the ID of the taxel.