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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 176 of file compensator.cpp.

◆ calibrationFinish()

void Compensator::calibrationFinish ( )

Definition at line 195 of file compensator.cpp.

◆ calibrationInit()

void Compensator::calibrationInit ( )

Definition at line 160 of file compensator.cpp.

◆ doesBaselineExceed()

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

Definition at line 446 of file compensator.cpp.

◆ getAddThreshold()

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

Definition at line 170 of file compensator.h.

◆ getBaselines()

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

Definition at line 183 of file compensator.h.

◆ getBinarization()

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

Definition at line 167 of file compensator.h.

◆ getBodyPart()

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

Definition at line 193 of file compensator.h.

◆ getBodyPartName()

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

Definition at line 192 of file compensator.h.

◆ getCompData()

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

Definition at line 185 of file compensator.h.

◆ getCompensation()

Vector Compensator::getCompensation ( )

Definition at line 610 of file compensator.cpp.

◆ getCompensationGain()

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

Definition at line 171 of file compensator.h.

◆ getContactCompensationGain()

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

Definition at line 172 of file compensator.h.

◆ getContacts()

skinContactList Compensator::getContacts ( )

Definition at line 464 of file compensator.cpp.

◆ getInputPortName()

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

Definition at line 189 of file compensator.h.

◆ getLinkNum()

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

Definition at line 194 of file compensator.h.

◆ getName()

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

Definition at line 188 of file compensator.h.

◆ getNumTaxels()

unsigned int Compensator::getNumTaxels ( )

Definition at line 604 of file compensator.cpp.

◆ getPoseConfidence()

double Compensator::getPoseConfidence ( unsigned int  taxelId)

Definition at line 669 of file compensator.cpp.

◆ getPoseConfidences()

Vector Compensator::getPoseConfidences ( )

Definition at line 676 of file compensator.cpp.

◆ getRawData()

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

Definition at line 184 of file compensator.h.

◆ getSkinPart()

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

Definition at line 191 of file compensator.h.

◆ getSkinPartName()

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

Definition at line 190 of file compensator.h.

◆ getSmoothFactor()

float Compensator::getSmoothFactor ( )

Definition at line 617 of file compensator.cpp.

◆ getSmoothFilter()

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

Definition at line 168 of file compensator.h.

◆ getTaxelOrientation()

Vector Compensator::getTaxelOrientation ( unsigned int  taxelId)

Definition at line 636 of file compensator.cpp.

◆ getTaxelOrientations()

vector< Vector > Compensator::getTaxelOrientations ( )

Definition at line 644 of file compensator.cpp.

◆ getTaxelPose()

Vector Compensator::getTaxelPose ( unsigned int  taxelId)

Definition at line 651 of file compensator.cpp.

◆ getTaxelPoses()

vector< Vector > Compensator::getTaxelPoses ( )

Definition at line 659 of file compensator.cpp.

◆ getTaxelPosition()

Vector Compensator::getTaxelPosition ( unsigned int  taxelId)

Definition at line 621 of file compensator.cpp.

◆ getTaxelPositions()

vector< Vector > Compensator::getTaxelPositions ( )

Definition at line 629 of file compensator.cpp.

◆ getTimestamp()

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

Definition at line 186 of file compensator.h.

◆ getTouchThreshold()

Vector Compensator::getTouchThreshold ( )

Definition at line 612 of file compensator.cpp.

◆ isWorking()

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

Definition at line 147 of file compensator.h.

◆ readRawAndWriteCompensatedData()

bool Compensator::readRawAndWriteCompensatedData ( )

Definition at line 337 of file compensator.cpp.

◆ setAddThreshold()

bool Compensator::setAddThreshold ( unsigned int  thr)

Definition at line 583 of file compensator.cpp.

◆ setBinarization()

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

Definition at line 149 of file compensator.h.

◆ setCompensationGain()

bool Compensator::setCompensationGain ( double  gain)

Definition at line 590 of file compensator.cpp.

◆ setContactCompensationGain()

bool Compensator::setContactCompensationGain ( double  gain)

Definition at line 597 of file compensator.cpp.

◆ setMaxNeighborDistance()

bool Compensator::setMaxNeighborDistance ( double  d)

Definition at line 681 of file compensator.cpp.

◆ setSkinPart()

void Compensator::setSkinPart ( SkinPart  _skinPart)

Definition at line 577 of file compensator.cpp.

◆ setSmoothFactor()

bool Compensator::setSmoothFactor ( float  value)

Definition at line 567 of file compensator.cpp.

◆ setSmoothFilter()

void Compensator::setSmoothFilter ( bool  value)

Definition at line 558 of file compensator.cpp.

◆ setTaxelOrientation()

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

Definition at line 835 of file compensator.cpp.

◆ setTaxelOrientations()

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

Definition at line 828 of file compensator.cpp.

◆ setTaxelPose()

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

Definition at line 785 of file compensator.cpp.

◆ setTaxelPoses()

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

Definition at line 770 of file compensator.cpp.

◆ setTaxelPosesFromFile()

bool Compensator::setTaxelPosesFromFile ( const char *  filePath)

Definition at line 690 of file compensator.cpp.

◆ setTaxelPosesFromFileOld()

bool Compensator::setTaxelPosesFromFileOld ( const char *  filePath)

Definition at line 727 of file compensator.cpp.

◆ setTaxelPosition()

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

Definition at line 818 of file compensator.cpp.

◆ setTaxelPositions()

bool Compensator::setTaxelPositions ( const Vector &  positions)

Definition at line 798 of file compensator.cpp.

◆ updateBaseline()

void Compensator::updateBaseline ( )

Definition at line 380 of file compensator.cpp.

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