Taxel.h

Go to the documentation of this file.

 
#ifndef __TAXEL_H__
#define __TAXEL_H__
 
#include <yarp/os/Log.h>
#include <yarp/math/Math.h>
 
#include "iCub/skinDynLib/skinContact.h"
 
#include <sstream>
 
namespace iCub
{
namespace skinDynLib
{
 
class Taxel
{
  protected:
    int ID;                        // taxels' ID
    yarp::sig::Vector Position;    // taxel's position w.r.t. the limb
    yarp::sig::Vector Normal;      // taxel's normal   w.r.t. the limb
    yarp::sig::Vector WRFPosition; // taxel's position w.r.t. the root FoR
    yarp::sig::Vector px;          // (u,v) projection in the image plane
    yarp::sig::Matrix FoR;         // taxel's reference Frame (computed from Pos and Norm)
 
  protected:
    void init();
 
    void setFoR();
 
  public:
    Taxel();
 
    Taxel(const yarp::sig::Vector &_position, const yarp::sig::Vector &_normal);
 
    Taxel(const yarp::sig::Vector &_position, const yarp::sig::Vector &_normal, const int &_id);
 
    Taxel(const Taxel &_t);
 
    Taxel &operator=(const Taxel &_t);
 
    int getID();
 
    yarp::sig::Vector getPosition(); 
 
    yarp::sig::Vector getNormal();
 
    yarp::sig::Vector getWRFPosition();
 
    yarp::sig::Vector getPx();
 
    yarp::sig::Matrix getFoR();
 
    bool setID(int _ID);
 
    bool setPosition(const yarp::sig::Vector &_Position); 
 
    bool setNormal(const yarp::sig::Vector &_Normal);
 
    bool setWRFPosition(const yarp::sig::Vector &_WRFPosition);
 
    bool setPx(const yarp::sig::Vector &_px);
 
    virtual void print(int verbosity=0);
 
    virtual std::string toString(int verbosity=0);
 
};
 
}
 
}//end namespace
 
#endif
 
// empty line to make gcc happy