Class that encloses everything relate to a skinPart. More...

#include <skinPart.h>

Inheritance diagram for iCub::skinDynLib::skinPart:

Public Member Functions
	skinPart ()
	Constructor.

	skinPart (const std::string &_filePath)
	Constructor with the configuration file to load from.

	skinPart (const skinPart &_sp)
	Copy constructor.

skinPart &	operator= (const skinPart &_sp)
	Copy Operator.

bool	setTaxelPosesFromFile (const std::string &_filePath, const std::string &_spatial_sampling="default")
	Populates the skinPart by reading from a file.

bool	initRepresentativeTaxels ()
	Initializes the mapping between the taxels and their representatives (i.e.

int	getTaxelsSize ()
	gets the size of the taxel vector (it differs from skinPartBase::getSize())

void	clearTaxels ()
	Clears the vector of taxels properly and gracefully.

void	print (int verbosity=0)
	Print Method.

std::string	toString (int precision=0)
	toString Method

	~skinPart ()
	Destructor.

Public Member Functions inherited from iCub::skinDynLib::skinPartBase
	skinPartBase ()
	Constructor.

	skinPartBase (const skinPartBase &_spb)
	Copy constructor.

virtual skinPartBase &	operator= (const skinPartBase &_sp)
	Copy Operator.

void	setName (const std::string &_name)
	Sets the name of the class.

std::string	getName ()
	Gets the name of the class.

void	setSize (int _size)
	Sets the size of the class.

int	getSize ()
	Gets the size of the class.

void	setVersion (const std::string &_version)
	Sets the version ("V1" / "V2" / "V2.1")

std::string	getVersion ()
	Gets the version.

Public Attributes
std::vector< Taxel * >	taxels
	List of taxels that belong to the skinPart.

std::string	spatial_sampling
	Spatial_sampling used in building up the skinPart class.

std::vector< int >	taxel2Repr
	Indexing variable used in the case of reducing the resolution - e.g.

std::map< int, std::list< unsigned int > >	repr2TaxelList
	Mapping in the opposite direction Indexed by representative taxel IDs, it stores lists of the taxels being represented - e.g.

Public Attributes inherited from iCub::skinDynLib::skinPartBase
std::string	name

int	size

std::string	version

std::recursive_mutex	recursive_mtx

Protected Member Functions
bool	setTaxelPosesFromFileOld (const std::string &_filePath)
	Populates the skinPart by reading from a file - old convention.

bool	mapTaxelsOntoThemselves ()
	Maps the taxels onto themselves, performing a 1:1 mapping.

Detailed Description

Class that encloses everything relate to a skinPart.

It consists of a std::vector of Taxel(s), and a number of methods for loading and populating these taxels from files.

Definition at line 145 of file skinPart.h.

Constructor & Destructor Documentation

◆ skinPart() [1/3]

skinPart::skinPart ( )

Constructor.

Definition at line 79 of file skinPart.cpp.

◆ skinPart() [2/3]

skinPart::skinPart ( const std::string & _filePath )

Constructor with the configuration file to load from.

Parameters

_filePath is the absolute path of the file to read

Definition at line 84 of file skinPart.cpp.

◆ skinPart() [3/3]

skinPart::skinPart ( const skinPart & _sp )

Copy constructor.

Parameters

_sp	is the skinPart to copy from

Definition at line 89 of file skinPart.cpp.

◆ ~skinPart()

skinPart::~skinPart ( )

Destructor.

Definition at line 395 of file skinPart.cpp.

Member Function Documentation

◆ clearTaxels()

void skinPart::clearTaxels ( )

Clears the vector of taxels properly and gracefully.

WARNING: it deletes the pointed objects as well!

Definition at line 335 of file skinPart.cpp.

◆ getTaxelsSize()

int skinPart::getTaxelsSize ( )

gets the size of the taxel vector (it differs from skinPartBase::getSize())

Returns: the size of the taxel vector

Definition at line 330 of file skinPart.cpp.

◆ initRepresentativeTaxels()

bool skinPart::initRepresentativeTaxels ( )

Initializes the mapping between the taxels and their representatives (i.e.

the centers of the triangles)

Returns: true/false in case of success/failure

Definition at line 313 of file skinPart.cpp.

◆ mapTaxelsOntoThemselves()

bool skinPart::mapTaxelsOntoThemselves ( )

protected

Maps the taxels onto themselves, performing a 1:1 mapping.

This has been made in order for the "taxel" spatial_sampling modality to be consistent with the "triangle" sampling, thus maintaining integrity into taxel2Repr and repr2TaxelList

Returns: true/false in case of success/failure

Definition at line 285 of file skinPart.cpp.

◆ operator=()

skinPart & skinPart::operator= ( const skinPart & _sp )

Copy Operator.

Parameters

_sp	is the skinPart to copy from

Definition at line 94 of file skinPart.cpp.

◆ print()

void skinPart::print ( int verbosity = 0 )

virtual

Print Method.

Parameters

verbosity is the verbosity level

Reimplemented from iCub::skinDynLib::skinPartBase.

Definition at line 349 of file skinPart.cpp.

◆ setTaxelPosesFromFile()

bool skinPart::setTaxelPosesFromFile	(	const std::string &	_filePath,
		const std::string &	_spatial_sampling = `"default"`
	)

virtual

Populates the skinPart by reading from a file.

Parameters

_filePath	is the full absolute path of the file
_spatial_sampling	is the type of spatial sampling to perform (default "default") if "default", the spatial_sampling will be read from file if "taxel" or "triangle", this will be the spatial_sampling performed

Returns: true/false in case of success/failure

Reimplemented from iCub::skinDynLib::skinPartBase.

Definition at line 118 of file skinPart.cpp.

◆ setTaxelPosesFromFileOld()

bool skinPart::setTaxelPosesFromFileOld ( const std::string & _filePath )

protected

Populates the skinPart by reading from a file - old convention.

Spatial Sampling will be forced to "taxel"

Parameters

_filePath is the full absolute path of the file

Returns: true/false in case of success/failure

Definition at line 234 of file skinPart.cpp.

◆ toString()

std::string skinPart::toString ( int precision = 0 )

virtual

toString Method

Parameters

verbosity is the verbosity level

Reimplemented from iCub::skinDynLib::skinPartBase.

Definition at line 386 of file skinPart.cpp.

Member Data Documentation

◆ repr2TaxelList

std::map<int, std::list<unsigned int> > iCub::skinDynLib::skinPart::repr2TaxelList

Mapping in the opposite direction Indexed by representative taxel IDs, it stores lists of the taxels being represented - e.g.

all taxels of a triangle

Definition at line 170 of file skinPart.h.

◆ spatial_sampling

std::string iCub::skinDynLib::skinPart::spatial_sampling

Spatial_sampling used in building up the skinPart class.

It can be either full, i.e. "taxel", or "triangle", where the latter remaps the individual taxels onto the center taxels of their respective triangular module (composed of 10 taxels, but 12 values on the port - 2 are thermal pads)

Definition at line 158 of file skinPart.h.

◆ taxel2Repr

std::vector<int> iCub::skinDynLib::skinPart::taxel2Repr

Indexing variable used in the case of reducing the resolution - e.g.

taking only triangle centers The index into the vector is the taxel ID, the value stored is its representative

Definition at line 164 of file skinPart.h.

◆ taxels

std::vector<Taxel*> iCub::skinDynLib::skinPart::taxels

List of taxels that belong to the skinPart.

Definition at line 151 of file skinPart.h.

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

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

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ skinPart() [1/3]

◆ skinPart() [2/3]

◆ skinPart() [3/3]

◆ ~skinPart()

Member Function Documentation

◆ clearTaxels()

◆ getTaxelsSize()

◆ initRepresentativeTaxels()

◆ mapTaxelsOntoThemselves()

◆ operator=()

◆ print()

◆ setTaxelPosesFromFile()

◆ setTaxelPosesFromFileOld()

◆ toString()

Member Data Documentation

◆ repr2TaxelList

◆ spatial_sampling

◆ taxel2Repr

◆ taxels