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

#include <Taxel.h>

Public Member Functions
	Taxel ()
	Default Constructor.

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

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

	Taxel (const Taxel &_t)
	Copy Constructor.

Taxel &	operator= (const Taxel &_t)
	Copy Operator.

int	getID ()
	Gets the ID of the taxel.

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

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

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

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

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

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

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

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

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

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

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

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

Protected Member Functions
void	init ()
	init function

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

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.

Constructor & Destructor Documentation

◆ 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.

Member Function Documentation

◆ 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 ( )

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.

Member Data Documentation

◆ 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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Taxel() [1/4]

◆ Taxel() [2/4]

◆ Taxel() [3/4]

◆ Taxel() [4/4]

Member Function Documentation

◆ getFoR()

◆ getID()

◆ getNormal()

◆ getPosition()

◆ getPx()

◆ getWRFPosition()

◆ init()

◆ operator=()

◆ print()

◆ setFoR()

◆ setID()

◆ setNormal()

◆ setPosition()

◆ setPx()

◆ setWRFPosition()

◆ toString()

Member Data Documentation

◆ FoR

◆ ID

◆ Normal

◆ Position

◆ px

◆ WRFPosition