iCub-main
Classes | Namespaces | Enumerations | Functions | Variables
common.h File Reference
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <string>
#include <vector>
#include <map>
#include <list>
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Classes

struct  iCub::skinDynLib::Skin_2_Body
 
struct  iCub::skinDynLib::Skin_2_Link
 

Namespaces

 iCub
 This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
 
 iCub::skinDynLib
 

Enumerations

enum  iCub::skinDynLib::VerbosityLevel {
  iCub::skinDynLib::NO_VERBOSE,
  iCub::skinDynLib::VERBOSE,
  iCub::skinDynLib::MORE_VERBOSE
}
 
enum  iCub::skinDynLib::BodyPart {
  iCub::skinDynLib::BODY_PART_UNKNOWN =0,
  iCub::skinDynLib::TORSO,
  iCub::skinDynLib::HEAD,
  iCub::skinDynLib::LEFT_ARM,
  iCub::skinDynLib::RIGHT_ARM,
  iCub::skinDynLib::LEFT_LEG,
  iCub::skinDynLib::RIGHT_LEG,
  iCub::skinDynLib::BODY_PART_ALL,
  iCub::skinDynLib::LOWER_BODY_PARTS,
  iCub::skinDynLib::UPPER_BODY_PARTS,
  iCub::skinDynLib::BODY_PART_SIZE
}
 
enum  iCub::skinDynLib::SkinPart {
  iCub::skinDynLib::SKIN_PART_UNKNOWN =0,
  iCub::skinDynLib::SKIN_LEFT_HAND,
  iCub::skinDynLib::SKIN_LEFT_FOREARM,
  iCub::skinDynLib::SKIN_LEFT_UPPER_ARM,
  iCub::skinDynLib::SKIN_RIGHT_HAND,
  iCub::skinDynLib::SKIN_RIGHT_FOREARM,
  iCub::skinDynLib::SKIN_RIGHT_UPPER_ARM,
  iCub::skinDynLib::SKIN_FRONT_TORSO,
  iCub::skinDynLib::LEFT_LEG_UPPER,
  iCub::skinDynLib::LEFT_LEG_LOWER,
  iCub::skinDynLib::LEFT_FOOT,
  iCub::skinDynLib::RIGHT_LEG_UPPER,
  iCub::skinDynLib::RIGHT_LEG_LOWER,
  iCub::skinDynLib::RIGHT_FOOT,
  iCub::skinDynLib::SKIN_PART_ALL,
  iCub::skinDynLib::SKIN_PART_SIZE
}
 
enum  iCub::skinDynLib::HandPart {
  iCub::skinDynLib::INDEX,
  iCub::skinDynLib::MIDDLE,
  iCub::skinDynLib::RING,
  iCub::skinDynLib::LITTLE,
  iCub::skinDynLib::THUMB,
  iCub::skinDynLib::PALM,
  iCub::skinDynLib::ALL_HAND_PARTS,
  iCub::skinDynLib::HAND_PART_SIZE
}
 

Functions

BodyPart iCub::skinDynLib::getBodyPart (SkinPart s)
 
std::vector< SkinPartiCub::skinDynLib::getSkinParts (BodyPart b)
 
int iCub::skinDynLib::getLinkNum (SkinPart s)
 
SkinPart iCub::skinDynLib::getSkinPartFromString (const std::string skinPartString)
 
yarp::sig::Vector iCub::skinDynLib::toVector (yarp::sig::Matrix m)
 
yarp::sig::Vector iCub::skinDynLib::vectorFromBottle (const yarp::os::Bottle b, int in, const int size)
 
void iCub::skinDynLib::vectorIntoBottle (const yarp::sig::Vector v, yarp::os::Bottle &b)
 Puts a Vector into a bottle, by cycling through its elements and adding them as doubles. More...
 
yarp::sig::Matrix iCub::skinDynLib::matrixFromBottle (const yarp::os::Bottle b, int in, const int r, const int c)
 Retrieves a matrix from a bottle. More...
 
void iCub::skinDynLib::matrixIntoBottle (const yarp::sig::Matrix m, yarp::os::Bottle &b)
 Puts a matrix into a bottle, by cycling through its elements and adding them as double. More...
 
std::list< unsigned int > iCub::skinDynLib::vectorofIntEqualto (const std::vector< int > vec, const int val)
 

Variables

const std::string iCub::skinDynLib::BodyPart_s []
 
const std::string iCub::skinDynLib::SkinPart_s []
 
const Skin_2_Body iCub::skinDynLib::SkinPart_2_BodyPart [SKIN_PART_SIZE]
 
const Skin_2_Link iCub::skinDynLib::SkinPart_2_LinkNum [SKIN_PART_SIZE]
 
const std::string iCub::skinDynLib::HandPart_s []
 
static const int iCub::skinDynLib::ARM_FT_SENSOR_LINK_INDEX = 2
 
static const int iCub::skinDynLib::LEG_FT_SENSOR_LINK_INDEX = 1
 
static const int iCub::skinDynLib::ARM_DOF = 7
 
static const int iCub::skinDynLib::TORSO_DOF = 3