iCub::perception::Model Class Reference

An abstract class that provides basic methods for interfacing with the data acquisition. More...

#include <models.h>

Inheritance diagram for iCub::perception::Model:

Public Member Functions
	Model ()
	Constructor.
std::string	getName () const
	Retrieve the model name.
void	attachNode (Node &node)
	Attach a node object to the model.
Node *	getNode (const std::string &name) const
	Retrieve an attached node by its name.
virtual bool	fromProperty (const yarp::os::Property &options)=0
	Configure the model taking its parameters from a Property object.
virtual void	toProperty (yarp::os::Property &options) const =0
	Return a Property representation of all the model parameters.
virtual bool	toStream (std::ostream &str) const =0
	Similar to the toProperty() method but it operates on output streams (e.g.
virtual bool	calibrate (const yarp::os::Property &options)=0
	Some kinds of models need to be calibrated to properly operate.
virtual bool	isCalibrated () const =0
	Return the internal status of the calibration.
virtual bool	getOutput (yarp::os::Value &out) const =0
	Provide the higher layers with the model output computed over the attached sensors.
virtual	~Model ()
	Destructor.

Protected Member Functions
virtual void	printMessage (const int logtype, const int level, const char *format,...) const

Protected Attributes
std::string	name
int	verbosity
std::map< std::string, Node * >	nodes

Detailed Description

An abstract class that provides basic methods for interfacing with the data acquisition.

Definition at line 61 of file models.h.

Constructor & Destructor Documentation

Model()

Model::Model

(

)

Constructor.

Definition at line 32 of file models.cpp.

~Model()

virtual iCub::perception::Model::~Model ( )

inlinevirtual

Destructor.

Definition at line 159 of file models.h.

Member Function Documentation

attachNode()

void Model::attachNode

(

Node &

node

)

Attach a node object to the model.

Parameters

node	the node object to be attached, so that the mode can employ it.

Definition at line 73 of file models.cpp.

calibrate()

virtual bool iCub::perception::Model::calibrate ( const yarp::os::Property &  options )

pure virtual

Some kinds of models need to be calibrated to properly operate.

This method executes the calibration phase.

Parameters

options

a Property containing the calibration parameters.

Returns

true/false on success/failure.

Note

Usually this method should call the corresponding calibrate method of all the nodes attached to the model.

For models that do not envisage any calibration, this method should always return true.

Implemented in iCub::perception::SpringyFingersModel, and iCub::perception::TactileFingersModel.

fromProperty()

virtual bool iCub::perception::Model::fromProperty ( const yarp::os::Property &  options )

pure virtual

Configure the model taking its parameters from a Property object.

Parameters

options

a Property containing the configuration parameters.

Returns

true/false on success/failure.

Implemented in iCub::perception::SpringyFingersModel, and iCub::perception::TactileFingersModel.

getName()

std::string iCub::perception::Model::getName ( ) const

inline

Retrieve the model name.

Returns

a string containing the model name.

Definition at line 82 of file models.h.

getNode()

Node * Model::getNode

(

const std::string &

name

)

const

Retrieve an attached node by its name.

Parameters

name	the name of the attached node.

Returns

the pointer to the node.

Definition at line 80 of file models.cpp.

getOutput()

virtual bool iCub::perception::Model::getOutput ( yarp::os::Value &  out ) const

pure virtual

Provide the higher layers with the model output computed over the attached sensors.

Parameters

out	a Value containing the model output.

Returns

true/false on success/failure.

Implemented in iCub::perception::SpringyFingersModel, and iCub::perception::TactileFingersModel.

isCalibrated()

virtual bool iCub::perception::Model::isCalibrated ( ) const

pure virtual

Return the internal status of the calibration.

Returns

true/false on calibrated/uncalibrated-failure.

Note

For models that do not envisage any calibration, this method should always return true.

Implemented in iCub::perception::SpringyFingersModel, and iCub::perception::TactileFingersModel.

printMessage()

void Model::printMessage ( const int  logtype, const int  level, const char *  format,   ...  ) const

protectedvirtual

Definition at line 39 of file models.cpp.

toProperty()

virtual void iCub::perception::Model::toProperty ( yarp::os::Property &  options ) const

pure virtual

Return a Property representation of all the model parameters.

Parameters

options

a Property filled with the configuration parameters.

Implemented in iCub::perception::SpringyFingersModel, and iCub::perception::TactileFingersModel.

toStream()

virtual bool iCub::perception::Model::toStream ( std::ostream &  str ) const

pure virtual

Similar to the toProperty() method but it operates on output streams (e.g.

string, ofstream, ...). It allows to better manage the storing of the configuration over files.

Parameters

str	the reference to the output stream.

Returns

true/false on success/failure.

See also

toProperty

Implemented in iCub::perception::SpringyFingersModel, and iCub::perception::TactileFingersModel.

Member Data Documentation

name

std::string iCub::perception::Model::name

protected

Definition at line 64 of file models.h.

nodes

std::map<std::string,Node*> iCub::perception::Model::nodes

protected

Definition at line 67 of file models.h.

verbosity

int iCub::perception::Model::verbosity

protected

Definition at line 65 of file models.h.

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

• icub-main/src/libraries/perceptiveModels/include/iCub/perception/models.h
• icub-main/src/libraries/perceptiveModels/src/models.cpp