An abstract class that exposes the basic methods for the handling of data acquired through the attached sensors. More...

#include <nodes.h>

Inheritance diagram for iCub::perception::Node:

Public Member Functions
	Node ()
	Constructor.

std::string	getName () const
	Retrieve the node name.

void	attachSensor (Sensor &sensor)
	Attach a sensor object to the node.

void	attachCallback (EventCallback &callback)
	Attach an event callback to the node.

void	addNeighbor (Node &node)
	Add a node as a neighbor for the process of building the architecture.

bool	removeNeighbor (const std::string &name)
	Remove a node previously added as neighbor.

Node *	getNeighbor (const std::string &name) const
	Retrieve a neighbor node by its name.

virtual bool	fromProperty (const yarp::os::Property &options)=0
	Configure the node taking its parameters from a Property object.

virtual void	toProperty (yarp::os::Property &options) const =0
	Return a Property representation of all the node 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 nodes need to be calibrated to properly operate.

virtual bool	isCalibrated () const =0
	Return the internal status of the calibration.

virtual bool	getSensorsData (yarp::os::Value &data) const =0
	Retrieve data from the whole set of attached sensors, giving back a standard representation of it.

virtual bool	getOutput (yarp::os::Value &out) const =0
	Retrieve the node output computed over the sensors data.

virtual	~Node ()
	Destructor.

Protected Attributes
std::string	name

std::map< std::string, Sensor * >	sensors

std::map< std::string, EventCallback * >	callbacks

std::map< std::string, Node * >	neighbors

Detailed Description

An abstract class that exposes the basic methods for the handling of data acquired through the attached sensors.

Definition at line 93 of file nodes.h.

Constructor & Destructor Documentation

◆ Node()

Node::Node ( )

Constructor.

Definition at line 33 of file nodes.cpp.

◆ ~Node()

virtual iCub::perception::Node::~Node ( )

inlinevirtual

Destructor.

Definition at line 217 of file nodes.h.

Member Function Documentation

◆ addNeighbor()

void Node::addNeighbor ( Node & node )

Add a node as a neighbor for the process of building the architecture.

Parameters

node	a node lying in the neighborhood.

Definition at line 54 of file nodes.cpp.

◆ attachCallback()

void Node::attachCallback ( EventCallback & callback )

Attach an event callback to the node.

Parameters

callback the callback to be attached and that can be raised upon a specific event.

Definition at line 47 of file nodes.cpp.

◆ attachSensor()

void Node::attachSensor ( Sensor & sensor )

Attach a sensor object to the node.

Parameters

sensor the sensor object to be attached, so that the node can use it.

Definition at line 40 of file nodes.cpp.

◆ calibrate()

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

pure virtual

Some kinds of nodes 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: For nodes that do not envisage any calibration, this method should always return true.

Implemented in iCub::perception::SpringyFinger, and iCub::perception::TactileFinger.

◆ fromProperty()

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

pure virtual

Configure the node 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::SpringyFinger, and iCub::perception::TactileFinger.

◆ getName()

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

inline

Retrieve the node name.

Returns: a string containing the node name.

Definition at line 112 of file nodes.h.

◆ getNeighbor()

Node * Node::getNeighbor ( const std::string & name ) const

Retrieve a neighbor node by its name.

Parameters

name	the name of the neighbor node.

Returns: the pointer to the neighbor node.

Definition at line 75 of file nodes.cpp.

◆ getOutput()

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

pure virtual

Retrieve the node output computed over the sensors data.

Parameters

out	a Value containing the node output.

Returns: true/false on success/failure.

Implemented in iCub::perception::SpringyFinger, and iCub::perception::TactileFinger.

◆ getSensorsData()

virtual bool iCub::perception::Node::getSensorsData ( yarp::os::Value & data ) const

pure virtual

Retrieve data from the whole set of attached sensors, giving back a standard representation of it.

Parameters

data	a Value containing the representation of the data. It can be a double, a string, a collection of doubles and so on.

Returns: true/false on success/failure.

Implemented in iCub::perception::SpringyFinger, and iCub::perception::TactileFinger.

◆ isCalibrated()

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

pure virtual

Return the internal status of the calibration.

Returns: true/false on calibrated/uncalibrated-failure.

Note: For nodes that do not envisage any calibration, this method should always return true.

Implemented in iCub::perception::SpringyFinger, and iCub::perception::TactileFinger.

◆ removeNeighbor()

bool Node::removeNeighbor ( const std::string & name )

Remove a node previously added as neighbor.

Parameters

name	the node name uniquely identified.

Returns: true/false on success/failure.

Definition at line 61 of file nodes.cpp.

◆ toProperty()

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

pure virtual

Return a Property representation of all the node parameters.

Parameters

options a Property filled with the configuration parameters.

Implemented in iCub::perception::SpringyFinger, and iCub::perception::TactileFinger.

◆ toStream()

virtual bool iCub::perception::Node::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::SpringyFinger, and iCub::perception::TactileFinger.

Member Data Documentation

◆ callbacks

std::map<std::string,EventCallback*> iCub::perception::Node::callbacks

protected

Definition at line 99 of file nodes.h.

◆ name

std::string iCub::perception::Node::name

protected

Definition at line 96 of file nodes.h.

◆ neighbors

std::map<std::string,Node*> iCub::perception::Node::neighbors

protected

Definition at line 100 of file nodes.h.

◆ sensors

std::map<std::string,Sensor*> iCub::perception::Node::sensors

protected

Definition at line 98 of file nodes.h.

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Node()

◆ ~Node()

Member Function Documentation

◆ addNeighbor()

◆ attachCallback()

◆ attachSensor()

◆ calibrate()

◆ fromProperty()

◆ getName()

◆ getNeighbor()

◆ getOutput()

◆ getSensorsData()

◆ isCalibrated()

◆ removeNeighbor()

◆ toProperty()

◆ toStream()

Member Data Documentation

◆ callbacks

◆ name

◆ neighbors

◆ sensors