depth2kin_IDL IDL Interface to depth2kin services. More...

#include <depth2kin_IDL.h>

Inheritance diagram for depth2kin_IDL:

Public Member Functions
	depth2kin_IDL ()

virtual std::int32_t	getNumExperts ()
	Return the number of available experts.

virtual bool	clearExperts ()
	Clear the list of currently available experts.

virtual bool	load ()
	Reload the list of experts stored within the configuration file.

virtual bool	save ()
	Save the current list of experts into the configuration file.

virtual bool	log (const std::string &type)
	Store on file the log of system response computed out of the explored set of input-output pairs.

virtual bool	explore ()
	Start the exploration phase.

virtual bool	stop ()
	Yield an asynchronous stop of the exploration phase.

virtual bool	setMaxDist (const double max_dist)
	Set the maximum allowed distance between the depth point and kinematic prediction to enable data collection.

virtual double	getMaxDist ()
	Return the maximum allowed distance between depth point and kinematic prediction to enable data collection.

virtual bool	setRoi (const std::int32_t side)
	Set the side of the squared window used to filter data collection in the image plane.

virtual std::int32_t	getRoi ()
	Return the side of the squared window used to filter data collection in the image plane.

virtual bool	setBlockEyes (const double block_eyes)
	Set the vergence angle used to keep the gaze fixed.

virtual double	getBlockEyes ()
	Return the current angle to keep the vergence at.

virtual bool	blockEyes ()
	Tell the gaze to immediately steer the eyes to the stored vergence angle and stay still.

virtual bool	clearEyes ()
	Remove the block on the eyes.

virtual bool	setArm (const std::string &arm)
	Select the arm to deal with.

virtual std::string	getArm ()
	Return the current arm.

virtual bool	setCalibrationType (const std::string &type, const std::string &extrapolation="auto")
	Set up the calibrator type.

virtual std::string	getCalibrationType ()
	Return the current calibration type.

virtual yarp::os::Property	calibrate (const bool rm_outliers=true)
	Ask the current calibrator to carry out the calibration.

virtual bool	pushCalibrator ()
	Push the current calibrator in the list of experts.

virtual bool	setTouchWithExperts (const std::string &sw)
	Enable/disable the use of experts for touch test.

virtual std::string	getTouchWithExperts ()
	Return the current status of the switch for experts usage during touch test.

virtual bool	touch (const std::int32_t u, const std::int32_t v)
	Yield a touch action with the finger on a depth point.

virtual PointReq	getPoint (const std::string &arm, const double x, const double y, const double z)
	Retrieve the compensated kinematic point corresponding to the input depth point.

virtual std::vector< PointReq >	getPoints (const std::string &arm, const std::vector< double > &coordinates)
	Retrieve the compensated kinematic points corresponding to the input depth points.

virtual bool	setExperiment (const std::string &exp, const std::string &v)
	Set on/off an experiment.

virtual std::string	getExperiment (const std::string &exp)
	Return the current status of the experiment.

virtual yarp::sig::Vector	getExtrinsics (const std::string &eye)
	Retrieve the current extrinsics camera parameters.

virtual bool	resetExtrinsics (const std::string &eye)
	Reset the extrinsics matrix to default eye matrix.

virtual bool	setExplorationWait (const double wait)
	Set up the wait timeout used during exploration between two consecutive data points.

virtual double	getExplorationWait ()
	Return the current wait timeout used during exploration between two consecutive data points.

virtual bool	setExplorationInTargetTol (const double tol)
	Set up the cartesian tolerance used during exploration.

virtual double	getExplorationInTargetTol ()
	Return the current cartesian tolerance used during exploration.

virtual bool	setTouchInTargetTol (const double tol)
	Set up the cartesian tolerance used during a touch actions.

virtual double	getTouchInTargetTol ()
	Return the current cartesian tolerance used during touch actions.

virtual bool	setExplorationSpace (const double cx, const double cy, const double cz, const double a, const double b)
	Set up the internally coded exploration space composed by two co-centered ellipses, one orthogonal to other, and defined by means of the center and the two semi-axes.

virtual bool	setExplorationSpaceDelta (const double dcx=0.000000, const double dcy=0.000000, const double dcz=0.000000, const double da=0.000000, const double db=0.000000)
	Set up the exploration space in terms of differences with respect to the internally coded couple of ellipses.

virtual yarp::os::Property	getExplorationData ()
	Return some progress about the ongoing exploration.

virtual bool	clearExplorationData ()
	Clean up the internal list of explored points pairs.

virtual bool	posture (const std::string &type)
	Make the robot reach a predefined posture.

virtual bool	calibrateDepth ()
	Put the robot in a suitable predefined posture and then execute depth calibration.

virtual bool	quit ()
	Quit the module.

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

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

Detailed Description

depth2kin_IDL IDL Interface to depth2kin services.

Definition at line 24 of file depth2kin_IDL.h.

Constructor & Destructor Documentation

◆ depth2kin_IDL()

depth2kin_IDL::depth2kin_IDL ( )

Member Function Documentation

◆ blockEyes()

virtual bool depth2kin_IDL::blockEyes ( )

virtual

Tell the gaze to immediately steer the eyes to the stored vergence angle and stay still.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ calibrate()

virtual yarp::os::Property depth2kin_IDL::calibrate ( const bool rm_outliers = true )

virtual

Ask the current calibrator to carry out the calibration.

Parameters

rm_outliers if true outliers removal is performed.

Returns: a property containing the output in terms of calibration errors for each subsystem: calibrator, aligner.

Reimplemented in CalibModule.

◆ calibrateDepth()

virtual bool depth2kin_IDL::calibrateDepth ( )

virtual

Put the robot in a suitable predefined posture and then execute depth calibration.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ clearExperts()

virtual bool depth2kin_IDL::clearExperts ( )

virtual

Clear the list of currently available experts.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ clearExplorationData()

virtual bool depth2kin_IDL::clearExplorationData ( )

virtual

Clean up the internal list of explored points pairs.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ clearEyes()

virtual bool depth2kin_IDL::clearEyes ( )

virtual

Remove the block on the eyes.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ explore()

virtual bool depth2kin_IDL::explore ( )

virtual

Start the exploration phase.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ getArm()

virtual std::string depth2kin_IDL::getArm ( )

virtual

Return the current arm.

Returns: left or right.

Reimplemented in CalibModule.

◆ getBlockEyes()

virtual double depth2kin_IDL::getBlockEyes ( )

virtual

Return the current angle to keep the vergence at.

Returns: the vergence angle in degrees.

Reimplemented in CalibModule.

◆ getCalibrationType()

virtual std::string depth2kin_IDL::getCalibrationType ( )

virtual

Return the current calibration type.

Returns: the calibration type.

Reimplemented in CalibModule.

◆ getExperiment()

virtual std::string depth2kin_IDL::getExperiment ( const std::string & exp )

virtual

Return the current status of the experiment.

Parameters

exp	the experiment (`depth2kin` or `aligneyes`)

Returns: on/off.

Reimplemented in CalibModule.

◆ getExplorationData()

virtual yarp::os::Property depth2kin_IDL::getExplorationData ( )

virtual

Return some progress about the ongoing exploration.

Returns: a property that looks like (status [idle|ongoing]) (total_points <int>) (remaining_points <int>) (calibrator_points <int>) (aligner_points <int>)

Reimplemented in CalibModule.

◆ getExplorationInTargetTol()

virtual double depth2kin_IDL::getExplorationInTargetTol ( )

virtual

Return the current cartesian tolerance used during exploration.

Returns: the tolerance.

Reimplemented in CalibModule.

◆ getExplorationWait()

virtual double depth2kin_IDL::getExplorationWait ( )

virtual

Return the current wait timeout used during exploration between two consecutive data points.

Returns: the wait timeout in seconds.

Reimplemented in CalibModule.

◆ getExtrinsics()

virtual yarp::sig::Vector depth2kin_IDL::getExtrinsics ( const std::string & eye )

virtual

Retrieve the current extrinsics camera parameters.

Parameters

eye	is `left` or `right` camera eye.

Returns: a 6x1 Vector containing the translational and the rotational (in roll-pith-yaw convention) parts of the extrinsics matrix.

Reimplemented in CalibModule.

◆ getMaxDist()

virtual double depth2kin_IDL::getMaxDist ( )

virtual

Return the maximum allowed distance between depth point and kinematic prediction to enable data collection.

Returns: the distance.

Reimplemented in CalibModule.

◆ getNumExperts()

virtual std::int32_t depth2kin_IDL::getNumExperts ( )

virtual

Return the number of available experts.

Returns: the number of available experts.

Reimplemented in CalibModule.

◆ getPoint()

virtual PointReq depth2kin_IDL::getPoint	(	const std::string &	arm,
		const double	x,
		const double	y,
		const double	z
	)

virtual

Retrieve the compensated kinematic point corresponding to the input depth point.

Parameters

arm	accounts for `left` or `right` list of experts.
x	the x-coordinate of the depth point.
y	the y-coordinate of the depth point.
z	the z-coordinate of the depth point.

Returns: the requested point in PointReq format.

Reimplemented in CalibModule.

◆ getPoints()

virtual std::vector< PointReq > depth2kin_IDL::getPoints	(	const std::string &	arm,
		const std::vector< double > &	coordinates
	)

virtual

Retrieve the compensated kinematic points corresponding to the input depth points.

Parameters

arm	accounts for `left` or `right` list of experts.
coordinates	the 3D coordinates of the depth points.

Returns: the requested points in PointReq format.

Reimplemented in CalibModule.

◆ getRoi()

virtual std::int32_t depth2kin_IDL::getRoi ( )

virtual

Return the side of the squared window used to filter data collection in the image plane.

Returns: the window side.

Reimplemented in CalibModule.

◆ getTouchInTargetTol()

virtual double depth2kin_IDL::getTouchInTargetTol ( )

virtual

Return the current cartesian tolerance used during touch actions.

Returns: the tolerance.

Reimplemented in CalibModule.

◆ getTouchWithExperts()

virtual std::string depth2kin_IDL::getTouchWithExperts ( )

virtual

Return the current status of the switch for experts usage during touch test.

Returns: on/off if experts are used/not-used.

Reimplemented in CalibModule.

◆ help()

virtual std::vector< std::string > depth2kin_IDL::help ( const std::string & functionName = "--all" )

virtual

◆ load()

virtual bool depth2kin_IDL::load ( )

virtual

Reload the list of experts stored within the configuration file.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ log()

virtual bool depth2kin_IDL::log ( const std::string & type )

virtual

Store on file the log of system response computed out of the explored set of input-output pairs.

Parameters

type	can be `experts` or `calibrator`, accounting either for the response of mixture of available experts or the output of the current calibrator, respectively.

Returns: true/false on success/failure. It returns false also if calibrator is selected and calibration has not been performed yet.

Note: Each row of the file will contain the following data:
\( d_x d_y d_z k_x k_y k_z r_x r_y r_z e, \) where \( d \) is the depth point, \( k \) is the kinematic point, \( r \) is the system response and \( e=|k-r| \) is the error.

Reimplemented in CalibModule.

◆ posture()

virtual bool depth2kin_IDL::posture ( const std::string & type )

virtual

Make the robot reach a predefined posture.

Parameters

type	can be one of the following: home, look_hands.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ pushCalibrator()

virtual bool depth2kin_IDL::pushCalibrator ( )

virtual

Push the current calibrator in the list of experts.

Returns: true/false on success/failure.

Note: the calibrator needs to have been calibrated at least once.

Reimplemented in CalibModule.

◆ quit()

virtual bool depth2kin_IDL::quit ( )

virtual

Quit the module.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ read()

bool depth2kin_IDL::read ( yarp::os::ConnectionReader & connection )

override

◆ resetExtrinsics()

virtual bool depth2kin_IDL::resetExtrinsics ( const std::string & eye )

virtual

Reset the extrinsics matrix to default eye matrix.

Parameters

eye	is `left` or `right` camera eye.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ save()

virtual bool depth2kin_IDL::save ( )

virtual

Save the current list of experts into the configuration file.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setArm()

virtual bool depth2kin_IDL::setArm ( const std::string & arm )

virtual

Select the arm to deal with.

Parameters

arm	is `left` or `right`.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setBlockEyes()

virtual bool depth2kin_IDL::setBlockEyes ( const double block_eyes )

virtual

Set the vergence angle used to keep the gaze fixed.

Parameters

block_eyes the value in degrees of the vergence. It must be equal or greater than the minimum vergence angle allowed by the gaze controller.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setCalibrationType()

virtual bool depth2kin_IDL::setCalibrationType	(	const std::string &	type,
		const std::string &	extrapolation = `"auto"`
	)

virtual

Set up the calibrator type.

Parameters

type	can be one of the following: `se3`, `se3+scale`, `affine`, `lssvm`.
extrapolation	specifies whether the calibrator will be used for extrapolating data (`true`) or not (`false`); if `auto` is provided, then automatic choice is taken depending on the type.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setExperiment()

virtual bool depth2kin_IDL::setExperiment	(	const std::string &	exp,
		const std::string &	v
	)

virtual

Set on/off an experiment.

Parameters

exp	the experiment (`depth2kin` or `aligneyes`) to switch on/off.
v	is `on` or `off`.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setExplorationInTargetTol()

virtual bool depth2kin_IDL::setExplorationInTargetTol ( const double tol )

virtual

Set up the cartesian tolerance used during exploration.

Parameters

tol	the overall tolerance employed for the cartesian movements.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setExplorationSpace()

virtual bool depth2kin_IDL::setExplorationSpace	(	const double	cx,
		const double	cy,
		const double	cz,
		const double	a,
		const double	b
	)

virtual

Set up the internally coded exploration space composed by two co-centered ellipses, one orthogonal to other, and defined by means of the center and the two semi-axes.

Parameters

cx	the center x-coordinate.
cy	the center y-coordinate.
cz	the center z-coordiante.
a	the major semi-axis length.
b	the minor semi-axis length.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setExplorationSpaceDelta()

virtual bool depth2kin_IDL::setExplorationSpaceDelta	(	const double	dcx = `0.000000`,
		const double	dcy = `0.000000`,
		const double	dcz = `0.000000`,
		const double	da = `0.000000`,
		const double	db = `0.000000`
	)

virtual

Set up the exploration space in terms of differences with respect to the internally coded couple of ellipses.

Parameters

dcx	the center delta x-coordinate.
dcy	the center delta y-coordinate.
dcz	the center delta z-coordiante.
da	the major semi-axis delta length.
db	the minor semi-axis delta length.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setExplorationWait()

virtual bool depth2kin_IDL::setExplorationWait ( const double wait )

virtual

Set up the wait timeout used during exploration between two consecutive data points.

Parameters

wait	the timeout in seconds.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setMaxDist()

virtual bool depth2kin_IDL::setMaxDist ( const double max_dist )

virtual

Set the maximum allowed distance between the depth point and kinematic prediction to enable data collection.

Parameters

max_dist the value in meters.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setRoi()

virtual bool depth2kin_IDL::setRoi ( const std::int32_t side )

virtual

Set the side of the squared window used to filter data collection in the image plane.

Parameters

side	the length of the window side.

Returns: true/false on success/failure.

◆ setTouchInTargetTol()

virtual bool depth2kin_IDL::setTouchInTargetTol ( const double tol )

virtual

Set up the cartesian tolerance used during a touch actions.

Parameters

tol	the overall tolerance employed for the cartesian movements.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ setTouchWithExperts()

virtual bool depth2kin_IDL::setTouchWithExperts ( const std::string & sw )

virtual

Enable/disable the use of experts for touch test.

Parameters

switch is on/off to use/not-use the experts.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ stop()

virtual bool depth2kin_IDL::stop ( )

virtual

Yield an asynchronous stop of the exploration phase.

Returns: true/false on success/failure.

Reimplemented in CalibModule.

◆ touch()

virtual bool depth2kin_IDL::touch	(	const std::int32_t	u,
		const std::int32_t	v
	)

virtual

Yield a touch action with the finger on a depth point.

Parameters

u	the u-coordinate of the depth point in the image plane.
v	the v-coordinate of the depth point in the image plane.

Returns: true/false on success/failure.

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

icub-main/src/tools/depth2kin/idl_dox/depth2kin_IDL.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ depth2kin_IDL()

Member Function Documentation

◆ blockEyes()

◆ calibrate()

◆ calibrateDepth()

◆ clearExperts()

◆ clearExplorationData()

◆ clearEyes()

◆ explore()

◆ getArm()

◆ getBlockEyes()

◆ getCalibrationType()

◆ getExperiment()

◆ getExplorationData()

◆ getExplorationInTargetTol()

◆ getExplorationWait()

◆ getExtrinsics()

◆ getMaxDist()

◆ getNumExperts()

◆ getPoint()

◆ getPoints()

◆ getRoi()

◆ getTouchInTargetTol()

◆ getTouchWithExperts()

◆ help()

◆ load()

◆ log()

◆ posture()

◆ pushCalibrator()

◆ quit()

◆ read()

◆ resetExtrinsics()

◆ save()

◆ setArm()

◆ setBlockEyes()

◆ setCalibrationType()

◆ setExperiment()

◆ setExplorationInTargetTol()

◆ setExplorationSpace()

◆ setExplorationSpaceDelta()

◆ setExplorationWait()

◆ setMaxDist()

◆ setRoi()

◆ setTouchInTargetTol()

◆ setTouchWithExperts()

◆ stop()

◆ touch()