An implementation of the Node class that represents the springy finger. More...

#include <springyFingers.h>

Inheritance diagram for iCub::perception::SpringyFinger:

Public Member Functions
bool	fromProperty (const yarp::os::Property &options)
	Configure the finger taking its parameters from a Property object. More...

void	toProperty (yarp::os::Property &options) const
	Return a Property representation of all the node parameters. More...

bool	toStream (std::ostream &str) const
	Similar to the toProperty() method but it operates on output streams (e.g. More...

bool	calibrate (const yarp::os::Property &options)
	Allow to send calibration commands to the finger. More...

bool	getSensorsData (yarp::os::Value &data) const
	Retrieve data finger from the joints used both for calibration and normal operation. More...

bool	getOutput (yarp::os::Value &out) const
	Retrieve the finger output. More...

bool	isCalibrated () const
	Return the internal status of the calibration. More...

void	setCalibVel (const double vel)
	Set the finger actuation velocity used while calibrating. More...

double	getCalibVel () const
	Return the finger actuation velocity used while calibrating. More...

Public Member Functions inherited from iCub::perception::Node
	Node ()
	Constructor. More...

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

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

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

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

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

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

virtual	~Node ()
	Destructor. More...

Protected Member Functions
bool	extractSensorsData (yarp::sig::Vector &in, yarp::sig::Vector &out) const

Protected Attributes
iCub::learningmachine::FixedRangeScaler	scaler

iCub::learningmachine::LSSVMLearner	lssvm

double	calibratingVelocity

double	outputGain

bool	calibrated

Protected Attributes inherited from iCub::perception::Node
std::string	name

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

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

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

Detailed Description

An implementation of the Node class that represents the springy finger.

Definition at line 84 of file springyFingers.h.

Member Function Documentation

◆ calibrate()

bool SpringyFinger::calibrate ( const yarp::os::Property & options )

virtual

Allow to send calibration commands to the finger.

Parameters

options a Property containing the calibration parameters. Available options are:
reset: resets the internal machine.
feed: feeds the internal machine with the current couple of input-output data for calibration purpose.
train: issues the final training stage after having collected a sufficient number of input-output data couples through the "feed" command.

Returns: true/false on success/failure.

Implements iCub::perception::Node.

Definition at line 230 of file springyFingers.cpp.

◆ extractSensorsData()

bool SpringyFinger::extractSensorsData	(	yarp::sig::Vector &	in,
		yarp::sig::Vector &	out
	)		const

protected

Definition at line 179 of file springyFingers.cpp.

◆ fromProperty()

bool SpringyFinger::fromProperty ( const yarp::os::Property & options )

virtual

Configure the finger taking its parameters from a Property object.

Parameters

options a Property containing the configuration parameters. Available options are:
name: the name of the finger; it can be "thumb", "index", "middle", "ring" or "little".
calib_vel: a double that specifies the velocity [deg/s] with which the finger is actuated during calibration.
output_gain: a double that is used to multiply the final output for normalization purpose.
calibrated: it can be "true" or "false" and indicates whether the configured finger has to be considered calibrated or not.
scaler: the string that configures the internal scaler used by the learning machine.
lssvm: the string that configures the Least-Squares SVM machine.

Returns: true/false on success/failure.

See also: iCub::learningmachine::FixedRangeScaler; iCub::learningmachine::LSSVMLearner

Implements iCub::perception::Node.

Definition at line 43 of file springyFingers.cpp.

◆ getCalibVel()

double iCub::perception::SpringyFinger::getCalibVel ( ) const

inline

Return the finger actuation velocity used while calibrating.

Returns: the velocity [deg/s].

Definition at line 190 of file springyFingers.h.

◆ getOutput()

bool SpringyFinger::getOutput ( yarp::os::Value & out ) const

virtual

Retrieve the finger output.

Parameters

out	a Value containing the finger output in the form: output_gain*norm(out-pred).

Returns: true/false on success/failure.

Implements iCub::perception::Node.

Definition at line 211 of file springyFingers.cpp.

◆ getSensorsData()

bool SpringyFinger::getSensorsData ( yarp::os::Value & data ) const

virtual

Retrieve data finger from the joints used both for calibration and normal operation.

Parameters

data	a Value containing the representation of the data in the format: ((in (1.0)) (out (2.0 3.0))).

Returns: true/false on success/failure.

Implements iCub::perception::Node.

Definition at line 126 of file springyFingers.cpp.

◆ isCalibrated()

bool iCub::perception::SpringyFinger::isCalibrated ( ) const

inlinevirtual

Return the internal status of the calibration.

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

Implements iCub::perception::Node.

Definition at line 172 of file springyFingers.h.

◆ setCalibVel()

void iCub::perception::SpringyFinger::setCalibVel ( const double vel )

inline

Set the finger actuation velocity used while calibrating.

Parameters

vel	the velocity [deg/s].

Definition at line 181 of file springyFingers.h.

◆ toProperty()

void SpringyFinger::toProperty ( yarp::os::Property & options ) const

virtual

Return a Property representation of all the node parameters.

Parameters

options a Property filled with the configuration parameters.

Implements iCub::perception::Node.

Definition at line 99 of file springyFingers.cpp.

◆ toStream()

bool SpringyFinger::toStream ( std::ostream & str ) const

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

Implements iCub::perception::Node.

Definition at line 112 of file springyFingers.cpp.

Member Data Documentation

◆ calibrated

bool iCub::perception::SpringyFinger::calibrated

protected

Definition at line 91 of file springyFingers.h.

◆ calibratingVelocity

double iCub::perception::SpringyFinger::calibratingVelocity

protected

Definition at line 89 of file springyFingers.h.

◆ lssvm

iCub::learningmachine::LSSVMLearner iCub::perception::SpringyFinger::lssvm

mutableprotected

Definition at line 88 of file springyFingers.h.

◆ outputGain

double iCub::perception::SpringyFinger::outputGain

protected

Definition at line 90 of file springyFingers.h.

◆ scaler

iCub::learningmachine::FixedRangeScaler iCub::perception::SpringyFinger::scaler

mutableprotected

Definition at line 87 of file springyFingers.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ calibrate()

◆ extractSensorsData()

◆ fromProperty()

◆ getCalibVel()

◆ getOutput()

◆ getSensorsData()

◆ isCalibrated()

◆ setCalibVel()

◆ toProperty()

◆ toStream()

Member Data Documentation

◆ calibrated

◆ calibratingVelocity

◆ lssvm

◆ outputGain

◆ scaler