iCub::perception::TactileFingersModel Class Reference

A class that provides a mesaure of contact detection for each finger relying on tactile sensors. More...

#include <tactileFingers.h>

Inheritance diagram for iCub::perception::TactileFingersModel:

Public Member Functions
	TactileFingersModel ()
	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)
	Not available.
bool	isCalibrated () const
	Not available.
bool	getOutput (yarp::os::Value &out) const
	Retrieve the complete output of the model.
virtual	~TactileFingersModel ()
	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.

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 a mesaure of contact detection for each finger relying on tactile sensors.

Definition at line 151 of file tactileFingers.h.

Constructor & Destructor Documentation

TactileFingersModel()

TactileFingersModel::TactileFingersModel

(

)

Constructor.

Definition at line 168 of file tactileFingers.cpp.

~TactileFingersModel()

TactileFingersModel::~TactileFingersModel ( )

virtual

Destructor.

Definition at line 407 of file tactileFingers.cpp.

Member Function Documentation

calibrate()

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

virtual

Not available.

Returns

true.

Implements iCub::perception::Model.

Definition at line 350 of file tactileFingers.cpp.

fromProperty()

bool TactileFingersModel::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". compensation: it can be "true" or "false" and indicates which ports to connect to for data acquisition. When false it collects the raw data, when true it connects to the compensated ports. 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 176 of file tactileFingers.cpp.

getOutput()

bool TactileFingersModel::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 366 of file tactileFingers.cpp.

isCalibrated()

bool TactileFingersModel::isCalibrated ( ) const

virtual

Not available.

Returns

true.

Implements iCub::perception::Model.

Definition at line 358 of file tactileFingers.cpp.

toProperty()

void TactileFingersModel::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 268 of file tactileFingers.cpp.

toStream()

bool TactileFingersModel::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 312 of file tactileFingers.cpp.

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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