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:

• icub-main/src/modules/skinManager/include/iCub/skinManager/compensator.h
• icub-main/src/modules/skinManager/src/compensator.cpp