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iCub::skinManager::Compensator Class Reference

#include <compensator.h>

Public Member Functions

 Compensator (string name, string robotName, string outputPortName, string inputPortName, BufferedPort< Bottle > *_infoPort, double _compensationGain, double _contactCompensationGain, int addThreshold, float _minBaseline, bool _zeroUpRawData, bool _binarization, bool _smoothFilter, float _smoothFactor, unsigned int _linkId=0)
 
 ~Compensator ()
 
void calibrationInit ()
 
void calibrationDataCollection ()
 
void calibrationFinish ()
 
bool readRawAndWriteCompensatedData ()
 
void updateBaseline ()
 
bool doesBaselineExceed (unsigned int &taxelIndex, double &baseline, double &initialBaseline)
 
skinContactList getContacts ()
 
bool isWorking ()
 
void setBinarization (bool value)
 
void setSmoothFilter (bool value)
 
bool setSmoothFactor (float value)
 
bool setAddThreshold (unsigned int thr)
 
bool setCompensationGain (double gain)
 
bool setContactCompensationGain (double gain)
 
bool setMaxNeighborDistance (double d)
 
bool setTaxelPosesFromFile (const char *filePath)
 
bool setTaxelPosesFromFileOld (const char *filePath)
 
bool setTaxelPoses (const vector< Vector > &poses)
 
bool setTaxelPose (unsigned int taxelId, const Vector &pose)
 
bool setTaxelPositions (const Vector &positions)
 
bool setTaxelPosition (unsigned int taxelId, const Vector &position)
 
bool setTaxelOrientations (const vector< Vector > &orientations)
 
bool setTaxelOrientation (unsigned int taxelId, const Vector &orientation)
 
void setSkinPart (SkinPart _skinPart)
 
Vector getTouchThreshold ()
 
bool getBinarization ()
 
bool getSmoothFilter ()
 
float getSmoothFactor ()
 
unsigned int getAddThreshold ()
 
double getCompensationGain ()
 
double getContactCompensationGain ()
 
Vector getTaxelPosition (unsigned int taxelId)
 
vector< Vector > getTaxelPositions ()
 
Vector getTaxelOrientation (unsigned int taxelId)
 
vector< Vector > getTaxelOrientations ()
 
Vector getTaxelPose (unsigned int taxelId)
 
vector< Vector > getTaxelPoses ()
 
double getPoseConfidence (unsigned int taxelId)
 
Vector getPoseConfidences ()
 
unsigned int getNumTaxels ()
 
Vector getCompensation ()
 
Vector getBaselines ()
 
Vector getRawData ()
 
Vector getCompData ()
 
Stamp getTimestamp ()
 
string getName ()
 
string getInputPortName ()
 
string getSkinPartName ()
 
SkinPart getSkinPart ()
 
string getBodyPartName ()
 
BodyPart getBodyPart ()
 
unsigned int getLinkNum ()
 

Detailed Description

Definition at line 55 of file compensator.h.

Constructor & Destructor Documentation

◆ Compensator()

Compensator::Compensator ( string  name,
string  robotName,
string  outputPortName,
string  inputPortName,
BufferedPort< Bottle > *  _infoPort,
double  _compensationGain,
double  _contactCompensationGain,
int  addThreshold,
float  _minBaseline,
bool  _zeroUpRawData,
bool  _binarization,
bool  _smoothFilter,
float  _smoothFactor,
unsigned int  _linkId = 0 
)

Definition at line 36 of file compensator.cpp.

◆ ~Compensator()

Compensator::~Compensator ( )

Definition at line 49 of file compensator.cpp.

Member Function Documentation

◆ calibrationDataCollection()

void Compensator::calibrationDataCollection ( )

Definition at line 177 of file compensator.cpp.

◆ calibrationFinish()

void Compensator::calibrationFinish ( )

Definition at line 196 of file compensator.cpp.

◆ calibrationInit()

void Compensator::calibrationInit ( )

Definition at line 161 of file compensator.cpp.

◆ doesBaselineExceed()

bool Compensator::doesBaselineExceed ( unsigned int &  taxelIndex,
double &  baseline,
double &  initialBaseline 
)

Definition at line 447 of file compensator.cpp.

◆ getAddThreshold()

unsigned int iCub::skinManager::Compensator::getAddThreshold ( )
inline

Definition at line 171 of file compensator.h.

◆ getBaselines()

Vector iCub::skinManager::Compensator::getBaselines ( )
inline

Definition at line 184 of file compensator.h.

◆ getBinarization()

bool iCub::skinManager::Compensator::getBinarization ( )
inline

Definition at line 168 of file compensator.h.

◆ getBodyPart()

BodyPart iCub::skinManager::Compensator::getBodyPart ( )
inline

Definition at line 194 of file compensator.h.

◆ getBodyPartName()

string iCub::skinManager::Compensator::getBodyPartName ( )
inline

Definition at line 193 of file compensator.h.

◆ getCompData()

Vector iCub::skinManager::Compensator::getCompData ( )
inline

Definition at line 186 of file compensator.h.

◆ getCompensation()

Vector Compensator::getCompensation ( )

Definition at line 611 of file compensator.cpp.

◆ getCompensationGain()

double iCub::skinManager::Compensator::getCompensationGain ( )
inline

Definition at line 172 of file compensator.h.

◆ getContactCompensationGain()

double iCub::skinManager::Compensator::getContactCompensationGain ( )
inline

Definition at line 173 of file compensator.h.

◆ getContacts()

skinContactList Compensator::getContacts ( )

Definition at line 465 of file compensator.cpp.

◆ getInputPortName()

string iCub::skinManager::Compensator::getInputPortName ( )
inline

Definition at line 190 of file compensator.h.

◆ getLinkNum()

unsigned int iCub::skinManager::Compensator::getLinkNum ( )
inline

Definition at line 195 of file compensator.h.

◆ getName()

string iCub::skinManager::Compensator::getName ( )
inline

Definition at line 189 of file compensator.h.

◆ getNumTaxels()

unsigned int Compensator::getNumTaxels ( )

Definition at line 605 of file compensator.cpp.

◆ getPoseConfidence()

double Compensator::getPoseConfidence ( unsigned int  taxelId)

Definition at line 670 of file compensator.cpp.

◆ getPoseConfidences()

Vector Compensator::getPoseConfidences ( )

Definition at line 677 of file compensator.cpp.

◆ getRawData()

Vector iCub::skinManager::Compensator::getRawData ( )
inline

Definition at line 185 of file compensator.h.

◆ getSkinPart()

SkinPart iCub::skinManager::Compensator::getSkinPart ( )
inline

Definition at line 192 of file compensator.h.

◆ getSkinPartName()

string iCub::skinManager::Compensator::getSkinPartName ( )
inline

Definition at line 191 of file compensator.h.

◆ getSmoothFactor()

float Compensator::getSmoothFactor ( )

Definition at line 618 of file compensator.cpp.

◆ getSmoothFilter()

bool iCub::skinManager::Compensator::getSmoothFilter ( )
inline

Definition at line 169 of file compensator.h.

◆ getTaxelOrientation()

Vector Compensator::getTaxelOrientation ( unsigned int  taxelId)

Definition at line 637 of file compensator.cpp.

◆ getTaxelOrientations()

vector< Vector > Compensator::getTaxelOrientations ( )

Definition at line 645 of file compensator.cpp.

◆ getTaxelPose()

Vector Compensator::getTaxelPose ( unsigned int  taxelId)

Definition at line 652 of file compensator.cpp.

◆ getTaxelPoses()

vector< Vector > Compensator::getTaxelPoses ( )

Definition at line 660 of file compensator.cpp.

◆ getTaxelPosition()

Vector Compensator::getTaxelPosition ( unsigned int  taxelId)

Definition at line 622 of file compensator.cpp.

◆ getTaxelPositions()

vector< Vector > Compensator::getTaxelPositions ( )

Definition at line 630 of file compensator.cpp.

◆ getTimestamp()

Stamp iCub::skinManager::Compensator::getTimestamp ( )
inline

Definition at line 187 of file compensator.h.

◆ getTouchThreshold()

Vector Compensator::getTouchThreshold ( )

Definition at line 613 of file compensator.cpp.

◆ isWorking()

bool iCub::skinManager::Compensator::isWorking ( )
inline

Definition at line 148 of file compensator.h.

◆ readRawAndWriteCompensatedData()

bool Compensator::readRawAndWriteCompensatedData ( )

Definition at line 338 of file compensator.cpp.

◆ setAddThreshold()

bool Compensator::setAddThreshold ( unsigned int  thr)

Definition at line 584 of file compensator.cpp.

◆ setBinarization()

void iCub::skinManager::Compensator::setBinarization ( bool  value)
inline

Definition at line 150 of file compensator.h.

◆ setCompensationGain()

bool Compensator::setCompensationGain ( double  gain)

Definition at line 591 of file compensator.cpp.

◆ setContactCompensationGain()

bool Compensator::setContactCompensationGain ( double  gain)

Definition at line 598 of file compensator.cpp.

◆ setMaxNeighborDistance()

bool Compensator::setMaxNeighborDistance ( double  d)

Definition at line 682 of file compensator.cpp.

◆ setSkinPart()

void Compensator::setSkinPart ( SkinPart  _skinPart)

Definition at line 578 of file compensator.cpp.

◆ setSmoothFactor()

bool Compensator::setSmoothFactor ( float  value)

Definition at line 568 of file compensator.cpp.

◆ setSmoothFilter()

void Compensator::setSmoothFilter ( bool  value)

Definition at line 559 of file compensator.cpp.

◆ setTaxelOrientation()

bool Compensator::setTaxelOrientation ( unsigned int  taxelId,
const Vector &  orientation 
)

Definition at line 836 of file compensator.cpp.

◆ setTaxelOrientations()

bool Compensator::setTaxelOrientations ( const vector< Vector > &  orientations)

Definition at line 829 of file compensator.cpp.

◆ setTaxelPose()

bool Compensator::setTaxelPose ( unsigned int  taxelId,
const Vector &  pose 
)

Definition at line 786 of file compensator.cpp.

◆ setTaxelPoses()

bool Compensator::setTaxelPoses ( const vector< Vector > &  poses)

Definition at line 771 of file compensator.cpp.

◆ setTaxelPosesFromFile()

bool Compensator::setTaxelPosesFromFile ( const char *  filePath)

Definition at line 691 of file compensator.cpp.

◆ setTaxelPosesFromFileOld()

bool Compensator::setTaxelPosesFromFileOld ( const char *  filePath)

Definition at line 728 of file compensator.cpp.

◆ setTaxelPosition()

bool Compensator::setTaxelPosition ( unsigned int  taxelId,
const Vector &  position 
)

Definition at line 819 of file compensator.cpp.

◆ setTaxelPositions()

bool Compensator::setTaxelPositions ( const Vector &  positions)

Definition at line 799 of file compensator.cpp.

◆ updateBaseline()

void Compensator::updateBaseline ( )

Definition at line 381 of file compensator.cpp.

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