iCub-main
iCub::skinDynLib::Taxel Class Reference

Class that encloses everything relate to a Taxel, i.e. More...

#include <Taxel.h>

## Public Member Functions

Taxel ()
Default Constructor. More...

Taxel (const yarp::sig::Vector &_position, const yarp::sig::Vector &_normal)
Constructor with position and normal vectors. More...

Taxel (const yarp::sig::Vector &_position, const yarp::sig::Vector &_normal, const int &_id)
Constructor with position, normal and ID. More...

Taxel (const Taxel &_t)
Copy Constructor. More...

Taxeloperator= (const Taxel &_t)
Copy Operator. More...

int getID ()
Gets the ID of the taxel. More...

yarp::sig::Vector getPosition ()
Gets the Position of the taxel in the limb's FoR. More...

yarp::sig::Vector getNormal ()
Gets the Normal of the taxel in the limb's FoR. More...

yarp::sig::Vector getWRFPosition ()
Gets the Position of the taxel in the root FoR. More...

yarp::sig::Vector getPx ()
Gets the u,v position of the taxel in one of the eyes. More...

yarp::sig::Matrix getFoR ()
Gets the Frame of Reference of the taxel. More...

bool setID (int _ID)
Sets the ID of the taxel. More...

bool setPosition (const yarp::sig::Vector &_Position)
Sets the Position of the taxel in the limb's FoR. More...

bool setNormal (const yarp::sig::Vector &_Normal)
Sets the Normal of the taxel in the limb's FoR. More...

bool setWRFPosition (const yarp::sig::Vector &_WRFPosition)
Sets the Position of the taxel in the root FoR. More...

bool setPx (const yarp::sig::Vector &_px)
Sets the u,v position of the taxel in one of the eyes. More...

virtual void print (int verbosity=0)
Print Method. More...

virtual std::string toString (int verbosity=0)
toString Method More...

## Protected Member Functions

void init ()
init function More...

void setFoR ()
Compute and set the taxel's reference frame (from its position and its normal vector) More...

## Protected Attributes

int ID

yarp::sig::Vector Position

yarp::sig::Vector Normal

yarp::sig::Vector WRFPosition

yarp::sig::Vector px

yarp::sig::Matrix FoR

## Detailed Description

Class that encloses everything relate to a Taxel, i.e.

the atomic element the iCub skin is composed of. It is empowered by a Position and a Normal (both relative to the body part it belong to), and some more useful members (such as its 2D coordinates into the image frame of one of the eyes, its Frame of Reference base on the Position and Normal members, its position into the World Reference Frame)

Definition at line 56 of file Taxel.h.

## ◆ Taxel() [1/4]

 Taxel::Taxel ( )

Default Constructor.

Definition at line 9 of file Taxel.cpp.

## ◆ Taxel() [2/4]

 Taxel::Taxel ( const yarp::sig::Vector & _position, const yarp::sig::Vector & _normal )

Constructor with position and normal vectors.

Parameters
 _position is the position of the taxel _normal is the normal vector of the taxel

Definition at line 14 of file Taxel.cpp.

## ◆ Taxel() [3/4]

 Taxel::Taxel ( const yarp::sig::Vector & _position, const yarp::sig::Vector & _normal, const int & _id )

Constructor with position, normal and ID.

Parameters
 _position is the position of the taxel _normal is the normal vector of the taxel _id is the ID of the taxel

Definition at line 22 of file Taxel.cpp.

## ◆ Taxel() [4/4]

 Taxel::Taxel ( const Taxel & _t )

Copy Constructor.

Parameters
 _t is the Taxel to copy from

Definition at line 31 of file Taxel.cpp.

## ◆ getFoR()

 yarp::sig::Matrix Taxel::getFoR ( )

Gets the Frame of Reference of the taxel.

Returns
Matrix with the Frame of Reference

Definition at line 118 of file Taxel.cpp.

## ◆ getID()

 int Taxel::getID ( )

Gets the ID of the taxel.

Returns
int with the ID of the taxel

Definition at line 93 of file Taxel.cpp.

## ◆ getNormal()

 yarp::sig::Vector Taxel::getNormal ( )

Gets the Normal of the taxel in the limb's FoR.

Returns
Vector with the Normal of the taxel

Definition at line 103 of file Taxel.cpp.

## ◆ getPosition()

 yarp::sig::Vector Taxel::getPosition ( )

Gets the Position of the taxel in the limb's FoR.

Returns
Vector with the Position of the taxel

Definition at line 98 of file Taxel.cpp.

## ◆ getPx()

 yarp::sig::Vector Taxel::getPx ( )

Gets the u,v position of the taxel in one of the eyes.

Returns
Vector with the 2D position of the taxel in one of the eyes

Definition at line 113 of file Taxel.cpp.

## ◆ getWRFPosition()

 yarp::sig::Vector Taxel::getWRFPosition ( )

Gets the Position of the taxel in the root FoR.

Returns
Vector with the Position of the taxel

Definition at line 108 of file Taxel.cpp.

## ◆ init()

 void Taxel::init ( void )
protected

init function

Definition at line 52 of file Taxel.cpp.

## ◆ operator=()

 Taxel & Taxel::operator= ( const Taxel & _t )

Copy Operator.

Parameters
 _t is the Taxel to copy from

Definition at line 36 of file Taxel.cpp.

## ◆ print()

 void Taxel::print ( int verbosity = 0 )
virtual

Print Method.

Parameters
 verbosity is the verbosity level

Definition at line 173 of file Taxel.cpp.

## ◆ setFoR()

 void Taxel::setFoR ( )
protected

Compute and set the taxel's reference frame (from its position and its normal vector)

Definition at line 62 of file Taxel.cpp.

## ◆ setID()

 bool Taxel::setID ( int _ID )

Sets the ID of the taxel.

Returns
true/false in case of success/failure

Definition at line 123 of file Taxel.cpp.

## ◆ setNormal()

 bool Taxel::setNormal ( const yarp::sig::Vector & _Normal )

Sets the Normal of the taxel in the limb's FoR.

Returns
true/false in case of success/failure

Definition at line 140 of file Taxel.cpp.

## ◆ setPosition()

 bool Taxel::setPosition ( const yarp::sig::Vector & _Position )

Sets the Position of the taxel in the limb's FoR.

Returns
true/false in case of success/failure

Definition at line 129 of file Taxel.cpp.

## ◆ setPx()

 bool Taxel::setPx ( const yarp::sig::Vector & _px )

Sets the u,v position of the taxel in one of the eyes.

Returns
true/false in case of success/failure

Definition at line 162 of file Taxel.cpp.

## ◆ setWRFPosition()

 bool Taxel::setWRFPosition ( const yarp::sig::Vector & _WRFPosition )

Sets the Position of the taxel in the root FoR.

Returns
true/false in case of success/failure

Definition at line 151 of file Taxel.cpp.

## ◆ toString()

 std::string Taxel::toString ( int verbosity = 0 )
virtual

toString Method

Parameters
 verbosity is the verbosity level

Definition at line 187 of file Taxel.cpp.

## ◆ FoR

 yarp::sig::Matrix iCub::skinDynLib::Taxel::FoR
protected

Definition at line 64 of file Taxel.h.

## ◆ ID

 int iCub::skinDynLib::Taxel::ID
protected

Definition at line 59 of file Taxel.h.

## ◆ Normal

 yarp::sig::Vector iCub::skinDynLib::Taxel::Normal
protected

Definition at line 61 of file Taxel.h.

## ◆ Position

 yarp::sig::Vector iCub::skinDynLib::Taxel::Position
protected

Definition at line 60 of file Taxel.h.

## ◆ px

 yarp::sig::Vector iCub::skinDynLib::Taxel::px
protected

Definition at line 63 of file Taxel.h.

## ◆ WRFPosition

 yarp::sig::Vector iCub::skinDynLib::Taxel::WRFPosition
protected

Definition at line 62 of file Taxel.h.

The documentation for this class was generated from the following files:
• icub-main/src/libraries/skinDynLib/include/iCub/skinDynLib/Taxel.h
• icub-main/src/libraries/skinDynLib/src/Taxel.cpp