iCub-main
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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>
Public Member Functions | |
SpringyFingersModel () | |
Constructor. More... | |
bool | fromProperty (const yarp::os::Property &options) |
Configure the model taking its parameters from a Property object. More... | |
void | toProperty (yarp::os::Property &options) const |
Return a Property representation of all the model 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) |
Execute the fingers calibration. More... | |
bool | isCalibrated () const |
Return the internal status of the calibration. More... | |
bool | getOutput (yarp::os::Value &out) const |
Retrieve the complete output of the model. More... | |
virtual | ~SpringyFingersModel () |
Destructor. More... | |
Public Member Functions inherited from iCub::perception::Model | |
Model () | |
Constructor. More... | |
std::string | getName () const |
Retrieve the model name. More... | |
void | attachNode (Node &node) |
Attach a node object to the model. More... | |
Node * | getNode (const std::string &name) const |
Retrieve an attached node by its name. More... | |
virtual | ~Model () |
Destructor. More... | |
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 |
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.
SpringyFingersModel::SpringyFingersModel | ( | ) |
Constructor.
Definition at line 261 of file springyFingers.cpp.
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virtual |
Destructor.
Definition at line 835 of file springyFingers.cpp.
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virtual |
Execute the fingers calibration.
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. |
Implements iCub::perception::Model.
Definition at line 505 of file springyFingers.cpp.
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virtual |
Configure the model taking its parameters from a Property object.
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. |
Implements iCub::perception::Model.
Definition at line 268 of file springyFingers.cpp.
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virtual |
Retrieve the complete output of the model.
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. |
Implements iCub::perception::Model.
Definition at line 695 of file springyFingers.cpp.
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virtual |
Return the internal status of the calibration.
Implements iCub::perception::Model.
Definition at line 807 of file springyFingers.cpp.
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virtual |
Return a Property representation of all the model parameters.
options | a Property filled with the configuration parameters. |
Implements iCub::perception::Model.
Definition at line 425 of file springyFingers.cpp.
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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.
str | the reference to the output stream. |
Implements iCub::perception::Model.
Definition at line 468 of file springyFingers.cpp.
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friend |
Definition at line 256 of file springyFingers.h.