A class that provides the user with a suitable framework to deal with the elastic approach for the problem of detecting contacts of fingers with external forces. More...

#include <springyFingers.h>

Inheritance diagram for iCub::perception::SpringyFingersModel:

Public Member Functions
	SpringyFingersModel ()
	Constructor.

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

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

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

bool	calibrate (const yarp::os::Property &options)
	Execute the fingers calibration.

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

bool	getOutput (yarp::os::Value &out) const
	Retrieve the complete output of the model.

virtual	~SpringyFingersModel ()
	Destructor.

Public Member Functions inherited from iCub::perception::Model
	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	~Model ()
	Destructor.

Friends
class	CalibThread

Additional Inherited Members
Protected Member Functions inherited from iCub::perception::Model
virtual void	printMessage (const int logtype, const int level, const char *format,...) const

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

int	verbosity

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

Detailed Description

A class that provides the user with a suitable framework to deal with the elastic approach for the problem of detecting contacts of fingers with external forces.

Definition at line 204 of file springyFingers.h.

Constructor & Destructor Documentation

◆ SpringyFingersModel()

SpringyFingersModel::SpringyFingersModel ( )

Constructor.

Definition at line 261 of file springyFingers.cpp.

◆ ~SpringyFingersModel()

SpringyFingersModel::~SpringyFingersModel ( )

virtual

Destructor.

Definition at line 835 of file springyFingers.cpp.

Member Function Documentation

◆ calibrate()

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

virtual

Execute the fingers calibration.

Parameters

options

a Property containing the calibration parameters. Available options are:
finger: a string that encodes the finger to calibrate; it can be "thumb", "index", "middle", "ring", "little", "all", "all_serial", "all_parallel". The special tags "all" and "all_serial" serve to calibrate all the fingers consecutively, whereas the tag "all_parallel" allows calibrating all the fingers at the same time. Moreover, if a list is provided in place of a string - e.g. ("thumb" "little" "middle") - then the specified fingers are calibrated in parallel.

Returns: true/false on success/failure.

Implements iCub::perception::Model.

Definition at line 505 of file springyFingers.cpp.

◆ fromProperty()

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

virtual

Configure the model taking its parameters from a Property object.

Parameters

options a Property containing the configuration parameters. Available options are:
name: the name of the model.
type: the handedness type; it can be either "left" or "right".
robot: the name of the robot to connect to; e.g. "icub" or "icubSim".
carrier: the protocol used to connect yarp streaming ports; e.g. "udp", "mcast", "tcp".
verbosity: an integer that accounts for the verbosity level of model print-outs.

Returns: true/false on success/failure.

Implements iCub::perception::Model.

Definition at line 268 of file springyFingers.cpp.

◆ getOutput()

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

virtual

Retrieve the complete output of the model.

Parameters

out	a Value containing the model output in the form: (thumb_out index_out ... little_out), where the finger_out is the output of the corresponding finger.

Returns: true/false on success/failure.

Implements iCub::perception::Model.

Definition at line 695 of file springyFingers.cpp.

◆ isCalibrated()

bool SpringyFingersModel::isCalibrated ( ) const

virtual

Return the internal status of the calibration.

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

Implements iCub::perception::Model.

Definition at line 807 of file springyFingers.cpp.

◆ toProperty()

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

virtual

Return a Property representation of all the model parameters.

Parameters

options a Property filled with the configuration parameters.

Implements iCub::perception::Model.

Definition at line 425 of file springyFingers.cpp.

◆ toStream()

bool SpringyFingersModel::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::Model.

Definition at line 468 of file springyFingers.cpp.

Friends And Related Symbol Documentation

◆ CalibThread

friend class CalibThread

friend

Definition at line 256 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

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SpringyFingersModel()

◆ ~SpringyFingersModel()

Member Function Documentation

◆ calibrate()

◆ fromProperty()

◆ getOutput()

◆ isCalibrated()

◆ toProperty()

◆ toStream()

Friends And Related Symbol Documentation

◆ CalibThread