Class representing an external contact acting on the iCub' skin. More...

#include <skinContact.h>

Inheritance diagram for iCub::skinDynLib::skinContact:

Public Member Functions
	skinContact ()
	Empty contructor.

	skinContact (const dynContact &c)
	Create a skinContact starting from a dynContact.

	skinContact (const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_geoCenter, unsigned int _activeTaxels, double _pressure)
	Constructor.

	skinContact (const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_geoCenter, std::vector< unsigned int > _taxelList, double _pressure)
	Constructor with list of active taxels.

	skinContact (const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_geoCenter, unsigned int _activeTaxels, double _pressure, const yarp::sig::Vector &_normalDir)
	Constructor with contact surface normal.

	skinContact (const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_geoCenter, std::vector< unsigned int > _taxelList, double _pressure, const yarp::sig::Vector &_normalDir)
	Constructor with contact surface normal and list of active taxels.

	skinContact (const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_geoCenter, std::vector< unsigned int > _taxelList, double _pressure, const yarp::sig::Vector &_normalDir, const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Constructor with contact surface normal, list of active taxels, direction of contact force, and moment applied at this contact.

const yarp::sig::Vector &	getGeoCenter () const
	Get the contact geometric center, expressed in the link reference frame.

const yarp::sig::Vector &	getNormalDir () const
	Get the direction normal to the contact area, expressed in the link reference frame.

double	getPressure () const
	Get the average pressure measured at this contact.

unsigned int	getActiveTaxels () const
	Get the number of active taxels.

SkinPart	getSkinPart () const
	Get the skin part on which this contact is applied.

std::string	getSkinPartName () const
	Get the name of the skin part on which this contact is applied.

std::vector< unsigned int >	getTaxelList () const
	Get the list of id's of the taxels activated by this contact.

bool	setGeoCenter (const yarp::sig::Vector &_geoCenter)
	Set the geometric center of the contact area (link reference frame).

bool	setNormalDir (const yarp::sig::Vector &_normalDir)
	Set the normal direction of the contact area, expressed in link reference frame.

bool	setPressure (double _pressure)
	Set the average contact pressure.

void	setActiveTaxels (unsigned int _activeTaxels)
	Set the number of active taxels.

void	setSkinPart (SkinPart _skinPart)
	Set the skin part on which this contact is applied.

void	setTaxelList (const std::vector< unsigned int > &list)
	Set the list of taxels that are activated by this contact.

virtual bool	read (yarp::os::ConnectionReader &connection) override

virtual bool	write (yarp::os::ConnectionWriter &connection) const override
	Write this skinContact to a connection.

virtual yarp::sig::Vector	toVector () const
	Convert this skinContact to a vector.

virtual bool	fromVector (const yarp::sig::Vector &v)
	Convert the specified vector into a skinContact.

virtual std::string	toString (int precision=-1) const override
	Convert this skinContact into a string.

Public Member Functions inherited from iCub::skinDynLib::dynContact
	dynContact ()
	Default constructor.

	dynContact (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP)
	Constructor with unknown moment and force direction.

	dynContact (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_Mu)
	Constructor with known moment (usually zero) and unknown force direction.

	dynContact (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_Mu, const yarp::sig::Vector &_Fdir)
	Constructor with known moment (usually zero) and known force direction.

virtual yarp::sig::Vector	getForceMoment () const
	Get the contact force and moment in a single (6x1) vector.

virtual const yarp::sig::Vector &	getForce () const
	Get the contact force.

virtual const yarp::sig::Vector &	getForceDirection () const
	Get the contact force direction.

virtual double	getForceModule () const
	Get the contact force module.

virtual const yarp::sig::Vector &	getMoment () const
	Get the contact moment.

virtual const yarp::sig::Vector &	getCoP () const
	Get the contact center of pressure expressed in the link reference frame.

virtual unsigned int	getLinkNumber () const
	Get the link number (where 0 is the first link of the chain).

virtual BodyPart	getBodyPart () const
	Get the body part of the contact.

virtual std::string	getBodyPartName () const
	Get the name of the contact body part.

virtual unsigned long	getId () const
	Get the id of this contact.

virtual bool	isMomentKnown () const
	Get true if the moment applied at this contact is known a-priori.

virtual bool	isForceDirectionKnown () const
	Get true if the direction of the force applied at this contact is known a-priori.

virtual bool	setForce (const yarp::sig::Vector &_F)
	Set the contact force.

virtual bool	setForceModule (double _Fmodule)
	Set the contact force module.

virtual bool	setForceDirection (const yarp::sig::Vector &_Fdir)
	Set the direction of the contact force.

virtual bool	setMoment (const yarp::sig::Vector &_Mu)
	Set the contact moment.

virtual bool	setForceMoment (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set the contact force and moment.

virtual bool	setForceMoment (const yarp::sig::Vector &_FMu)
	Set the contact force and moment as a single (6x1) vector.

virtual bool	setCoP (const yarp::sig::Vector &_CoP)
	Set the contact center of pressure in link reference frame.

virtual void	setLinkNumber (unsigned int _linkNum)
	Set the contact link number (0 is the first link)

virtual void	setBodyPart (BodyPart _bodyPart)
	Set the body part of this contact.

virtual bool	fixForceDirection (const yarp::sig::Vector &_Fdir)
	Fix the direction of the contact force.

virtual bool	fixMoment ()
	Equivalent to calling fixMoment(zeros(3)).

virtual bool	fixMoment (const yarp::sig::Vector &_Mu)
	Fix the contact moment.

virtual void	unfixForceDirection ()
	Set the flag fDirKnown to false so that when estimating the contact wrenches the solver estimates also the force direction and does not consider it as known a-priori.

virtual void	unfixMoment ()
	Set the flag muKnown to false so that when estimating the contact wrenches the solver estimates also the contact moment and does not consider it as known a-priori.

virtual void	setVerbose (unsigned int verb=VERBOSE)
	Set the verbosity level of comments during operations.

Protected Attributes
SkinPart	skinPart

double	pressure

yarp::sig::Vector	geoCenter

yarp::sig::Vector	normalDir

unsigned int	activeTaxels

std::vector< unsigned int >	taxelList

Protected Attributes inherited from iCub::skinDynLib::dynContact
unsigned long	contactId

BodyPart	bodyPart
	part of the body of the robot where the contact is applied

unsigned int	linkNumber
	number of the link where the contact is applied

yarp::sig::Vector	CoP
	center of pressure of the contact expressed w.r.t. the reference frame of the link

yarp::sig::Vector	Fdir
	contact force direction (unit vector)

yarp::sig::Vector	F
	contact force

double	Fmodule
	contact force module

yarp::sig::Vector	Mu
	contact moment

bool	muKnown
	True if the moment applied at the contact point is known.

bool	fDirKnown
	True if the direction of the force applied at the contact point is known.

unsigned int	verbose
	verbosity flag

Additional Inherited Members
Protected Member Functions inherited from iCub::skinDynLib::dynContact
void	init (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_Mu=yarp::sig::Vector(0), const yarp::sig::Vector &_Fdir=yarp::sig::Vector(0))

bool	checkVectorDim (const yarp::sig::Vector &v, unsigned int dim, const std::string &descr="")

Static Protected Attributes inherited from iCub::skinDynLib::dynContact
static unsigned long	ID = 1

Detailed Description

Class representing an external contact acting on the iCub' skin.

Definition at line 49 of file skinContact.h.

Constructor & Destructor Documentation

◆ skinContact() [1/7]

skinContact::skinContact ( )

Empty contructor.

Definition at line 57 of file skinContact.cpp.

◆ skinContact() [2/7]

skinContact::skinContact ( const dynContact & c )

Create a skinContact starting from a dynContact.

Definition at line 25 of file skinContact.cpp.

◆ skinContact() [3/7]

skinContact::skinContact	(	const BodyPart &	_bodyPart,
		const SkinPart &	_skinPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_geoCenter,
		unsigned int	_activeTaxels,
		double	_pressure
	)

Constructor.

Parameters

_bodyPart	the part of the body
_skinPart	the part of the skin
_linkNumber	the link number relative to the specified body part
_CoP	the center of pressure (link reference frame)
_geoCenter	the geometric center of the contact area (link reference frame)
_activeTaxels	number of taxels activated
_pressure	average pressure applied on the contact area

Definition at line 28 of file skinContact.cpp.

◆ skinContact() [4/7]

skinContact::skinContact	(	const BodyPart &	_bodyPart,
		const SkinPart &	_skinPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_geoCenter,
		std::vector< unsigned int >	_taxelList,
		double	_pressure
	)

Constructor with list of active taxels.

Parameters

_bodyPart	the part of the body
_skinPart	the part of the skin
_linkNumber	the link number relative to the specified body part
_CoP	the center of pressure (link reference frame)
_geoCenter	the geometric center of the contact area (link reference frame)
_taxelList	list of activated taxels
_pressure	average pressure applied on the contact area

Definition at line 38 of file skinContact.cpp.

◆ skinContact() [5/7]

iCub::skinDynLib::skinContact::skinContact	(	const BodyPart &	_bodyPart,
		const SkinPart &	_skinPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_geoCenter,
		unsigned int	_activeTaxels,
		double	_pressure,
		const yarp::sig::Vector &	_normalDir
	)

Constructor with contact surface normal.

Parameters

_bodyPart	the part of the body
_skinPart	the part of the skin
_linkNumber	the link number relative to the specified body part
_CoP	the center of pressure (link reference frame)
_geoCenter	the geometric center of the contact area (link reference frame)
_activeTaxels	number of taxels activated
_pressure	average pressure applied on the contact area
_normalDir	contact area normal direction (link reference frame)

◆ skinContact() [6/7]

iCub::skinDynLib::skinContact::skinContact	(	const BodyPart &	_bodyPart,
		const SkinPart &	_skinPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_geoCenter,
		std::vector< unsigned int >	_taxelList,
		double	_pressure,
		const yarp::sig::Vector &	_normalDir
	)

Constructor with contact surface normal and list of active taxels.

Parameters

_bodyPart	the part of the body
_skinPart	the part of the skin
_linkNumber	the link number relative to the specified body part
_CoP	the center of pressure (link reference frame)
_geoCenter	the geometric center of the contact area (link reference frame)
_taxelList	list of activated taxels
_pressure	average pressure applied on the contact area
_normalDir	contact area normal direction (link reference frame)

◆ skinContact() [7/7]

skinContact::skinContact	(	const BodyPart &	_bodyPart,
		const SkinPart &	_skinPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_geoCenter,
		std::vector< unsigned int >	_taxelList,
		double	_pressure,
		const yarp::sig::Vector &	_normalDir,
		const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu
	)

Constructor with contact surface normal, list of active taxels, direction of contact force, and moment applied at this contact.

Parameters

_bodyPart	the part of the body
_skinPart	the part of the skin
_linkNumber	the link number relative to the specified body part
_CoP	the center of pressure (link reference frame)
_geoCenter	the geometric center of the contact area (link reference frame)
_taxelList	list of activated taxels
_pressure	average pressure applied on the contact area
_normalDir	contact area normal direction (link reference frame)
_F	force applied at contact, expressed in link reference frame
_Mu	the moment applied at this contact, expressed in link reference frame

Definition at line 48 of file skinContact.cpp.

Member Function Documentation

◆ fromVector()

bool skinContact::fromVector ( const yarp::sig::Vector & v )

virtual

Convert the specified vector into a skinContact.

The vector has to contain the following data, in this specific order: 0: contactId; 1: body part id; 2: link number; 3: skin part; 4-6: center of pressure; 7-9: force; 10-12: moment; 13-15: geometric center; 16-18: surface normal direction; 19: number of active taxels; 20-?: list of the id's of the activated taxels; ?: pressure;

Parameters

v	the vector to convert into a skinContact

Returns: true iff operation succeeded, false otherwise

Definition at line 240 of file skinContact.cpp.

◆ getActiveTaxels()

unsigned int iCub::skinDynLib::skinContact::getActiveTaxels ( ) const

inline

Get the number of active taxels.

Returns: the number of taxels activated by this contact

Definition at line 174 of file skinContact.h.

◆ getGeoCenter()

const yarp::sig::Vector & iCub::skinDynLib::skinContact::getGeoCenter ( ) const

inline

Get the contact geometric center, expressed in the link reference frame.

Returns: a 3-dim vector

Definition at line 159 of file skinContact.h.

◆ getNormalDir()

const yarp::sig::Vector & iCub::skinDynLib::skinContact::getNormalDir ( ) const

inline

Get the direction normal to the contact area, expressed in the link reference frame.

Returns: a 3-dim vector

Definition at line 164 of file skinContact.h.

◆ getPressure()

double iCub::skinDynLib::skinContact::getPressure ( ) const

inline

Get the average pressure measured at this contact.

Returns: the contact pressure

Definition at line 169 of file skinContact.h.

◆ getSkinPart()

SkinPart iCub::skinDynLib::skinContact::getSkinPart ( ) const

inline

Get the skin part on which this contact is applied.

Returns: the skin part

Definition at line 179 of file skinContact.h.

◆ getSkinPartName()

std::string iCub::skinDynLib::skinContact::getSkinPartName ( ) const

inline

Get the name of the skin part on which this contact is applied.

Returns: the skin part name

Definition at line 184 of file skinContact.h.

◆ getTaxelList()

std::vector< unsigned int > iCub::skinDynLib::skinContact::getTaxelList ( ) const

inline

Get the list of id's of the taxels activated by this contact.

Returns: the list of taxels' id's

Definition at line 189 of file skinContact.h.

◆ read()

bool skinContact::read ( yarp::os::ConnectionReader & connection )

overridevirtual

Reimplemented from iCub::skinDynLib::dynContact.

Definition at line 155 of file skinContact.cpp.

◆ setActiveTaxels()

void skinContact::setActiveTaxels ( unsigned int _activeTaxels )

Set the number of active taxels.

Parameters

_activeTaxels the number of taxels activated by this contact

Returns: true if the operation succeeded, false otherwise

Definition at line 83 of file skinContact.cpp.

◆ setGeoCenter()

bool skinContact::setGeoCenter ( const yarp::sig::Vector & _geoCenter )

Set the geometric center of the contact area (link reference frame).

Parameters

_geoCenter a 3-dim vector containing the geometric center of this contact area

Returns: true if the operation succeeded, false otherwise

Definition at line 62 of file skinContact.cpp.

◆ setNormalDir()

bool skinContact::setNormalDir ( const yarp::sig::Vector & _normalDir )

Set the normal direction of the contact area, expressed in link reference frame.

Parameters

_normalDir a 3-dim vector containing the normal to the contact area

Returns: true if the operation succeeded, false otherwise

Definition at line 69 of file skinContact.cpp.

◆ setPressure()

bool skinContact::setPressure ( double _pressure )

Set the average contact pressure.

Parameters

_pressure the mean contact pressure

Returns: true if the operation succeeded, false otherwise

Definition at line 76 of file skinContact.cpp.

◆ setSkinPart()

void skinContact::setSkinPart ( SkinPart _skinPart )

Set the skin part on which this contact is applied.

Parameters

_skinPart the skin part

Returns: true if the operation succeeded, false otherwise

Definition at line 88 of file skinContact.cpp.

◆ setTaxelList()

void skinContact::setTaxelList ( const std::vector< unsigned int > & list )

Set the list of taxels that are activated by this contact.

Parameters

list	list of id's of the active taxels associated to this contact

Returns: true if the operation succeeded, false otherwise

Definition at line 92 of file skinContact.cpp.

◆ toString()

string skinContact::toString ( int precision = -1 ) const

overridevirtual

Convert this skinContact into a string.

Useful to print some information.

Parameters

precision number of decimal digits to use in the string representation

Returns: a string representation of this contact

Reimplemented from iCub::skinDynLib::dynContact.

Definition at line 264 of file skinContact.cpp.

◆ toVector()

Vector skinContact::toVector ( ) const

virtual

Convert this skinContact to a vector.

The size of the vector is 21 plus the number of active taxels. The vector contains this data, in this order: 0: contactId; 1: body part id; 2: link number; 3: skin part; 4-6: center of pressure; 7-9: force; 10-12: moment; 13-15: geometric center; 16-18: surface normal direction; 19: number of active taxels; 20-?: list of the id's of the activated taxels; ?: pressure;

Returns: a Vector representation of this skinContact

Definition at line 220 of file skinContact.cpp.

◆ write()

bool skinContact::write ( yarp::os::ConnectionWriter & connection ) const

overridevirtual

Write this skinContact to a connection.

The skinContact is represented as a list of 8 elements that are:

a list of 4 int, i.e. contactId, bodyPart, linkNumber, skinPart
a list of 3 double, i.e. the CoP
a list of 3 double, i.e. the force
a list of 3 double, i.e. the moment
a list of 3 double, i.e. the geometric center
a list of 3 double, i.e. the normal direction
a list of N int, i.e. the active taxel ids
a double, i.e. the pressure
Parameters

connection connection to write to

Returns
true iff a skinContact was written correctly

Reimplemented from iCub::skinDynLib::dynContact.

Definition at line 99 of file skinContact.cpp.

Member Data Documentation

◆ activeTaxels

unsigned int iCub::skinDynLib::skinContact::activeTaxels

protected

Definition at line 62 of file skinContact.h.

◆ geoCenter

yarp::sig::Vector iCub::skinDynLib::skinContact::geoCenter

protected

Definition at line 58 of file skinContact.h.

◆ normalDir

yarp::sig::Vector iCub::skinDynLib::skinContact::normalDir

protected

Definition at line 60 of file skinContact.h.

◆ pressure

double iCub::skinDynLib::skinContact::pressure

protected

Definition at line 56 of file skinContact.h.

◆ skinPart

SkinPart iCub::skinDynLib::skinContact::skinPart

protected

Definition at line 53 of file skinContact.h.

◆ taxelList

std::vector<unsigned int> iCub::skinDynLib::skinContact::taxelList

protected

Definition at line 64 of file skinContact.h.

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

icub-main/src/libraries/skinDynLib/include/iCub/skinDynLib/skinContact.h
icub-main/src/libraries/skinDynLib/src/skinContact.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ skinContact() [1/7]

◆ skinContact() [2/7]

◆ skinContact() [3/7]

◆ skinContact() [4/7]

◆ skinContact() [5/7]

◆ skinContact() [6/7]

◆ skinContact() [7/7]

Member Function Documentation

◆ fromVector()

◆ getActiveTaxels()

◆ getGeoCenter()

◆ getNormalDir()

◆ getPressure()

◆ getSkinPart()

◆ getSkinPartName()

◆ getTaxelList()

◆ read()

◆ setActiveTaxels()

◆ setGeoCenter()

◆ setNormalDir()

◆ setPressure()

◆ setSkinPart()

◆ setTaxelList()

◆ toString()

◆ toVector()

◆ write()

Member Data Documentation

◆ activeTaxels

◆ geoCenter

◆ normalDir

◆ pressure

◆ skinPart

◆ taxelList