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

#include <tactileFingers.h>

Inheritance diagram for iCub::perception::TactileFinger:

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

void	toProperty (yarp::os::Property &options) const
	Return a Property representation of all the node 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)
	Not available.

bool	getSensorsData (yarp::os::Value &data) const
	Retrieve tactile data from the ports.

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

bool	isCalibrated () const
	Not available.

bool	isDirectLogic () const
	Retrieve the status of internal logic.

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

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

Protected Attributes
bool	directLogic

double	outputGain

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 tactile finger.

Definition at line 60 of file tactileFingers.h.

Member Function Documentation

◆ calibrate()

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

virtual

Not available.

Returns: true.

Implements iCub::perception::Node.

Definition at line 80 of file tactileFingers.cpp.

◆ extractSensorsData()

bool TactileFinger::extractSensorsData ( yarp::sig::Vector & in ) const

protected

Definition at line 126 of file tactileFingers.cpp.

◆ fromProperty()

bool TactileFinger::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".
logic: it can be "direct" or "inverse". A direct logic indicates that the attached sensors represent the floating condition (no external forces excerted on the tactile patch) with the maximum value (e.g. 255 for a byte).
output_gain: a double that is used to multiply the final output for normalization purpose.

Returns: true/false on success/failure.

Implements iCub::perception::Node.

Definition at line 34 of file tactileFingers.cpp.

◆ getOutput()

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

virtual

Retrieve the finger output.

Parameters

out	a Value containing the finger output in the form: output_gain*max(f(sensors_data)), where f() can be either 255-sensors_data or sensors_data itself depending on the logic, direct or inverse respectively.

Returns: true/false on success/failure.

Implements iCub::perception::Node.

Definition at line 151 of file tactileFingers.cpp.

◆ getSensorsData()

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

virtual

Retrieve tactile data from the ports.

Parameters

data	a Value containing the representation of the data in the format: ((in (1.0 2.0 3.0 4.0 ...))).

Returns: true/false on success/failure.

Implements iCub::perception::Node.

Definition at line 96 of file tactileFingers.cpp.

◆ isCalibrated()

bool TactileFinger::isCalibrated ( ) const

virtual

Not available.

Returns: true.

Implements iCub::perception::Node.

Definition at line 88 of file tactileFingers.cpp.

◆ isDirectLogic()

bool iCub::perception::TactileFinger::isDirectLogic ( ) const

inline

Retrieve the status of internal logic.

Returns: true if the internal logic is direct.

Definition at line 138 of file tactileFingers.h.

◆ toProperty()

void TactileFinger::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 56 of file tactileFingers.cpp.

◆ toStream()

bool TactileFinger::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 66 of file tactileFingers.cpp.

Member Data Documentation

◆ directLogic

bool iCub::perception::TactileFinger::directLogic

protected

Definition at line 63 of file tactileFingers.h.

◆ outputGain

double iCub::perception::TactileFinger::outputGain

protected

Definition at line 64 of file tactileFingers.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ calibrate()

◆ extractSensorsData()

◆ fromProperty()

◆ getOutput()

◆ getSensorsData()

◆ isCalibrated()

◆ isDirectLogic()

◆ toProperty()

◆ toStream()

Member Data Documentation

◆ directLogic

◆ outputGain