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
namespace	iCub
	This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
namespace	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::SKIN_LEFT_LEG_UPPER ,   iCub::skinDynLib::SKIN_LEFT_LEG_LOWER ,   iCub::skinDynLib::SKIN_LEFT_FOOT ,   iCub::skinDynLib::SKIN_RIGHT_LEG_UPPER ,   iCub::skinDynLib::SKIN_RIGHT_LEG_LOWER ,   iCub::skinDynLib::SKIN_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)
	Get the body part associated to the specified skin part.
std::vector< SkinPart >	iCub::skinDynLib::getSkinParts (BodyPart b)
	Get the list of skin parts associated to the specified body part.
int	iCub::skinDynLib::getLinkNum (SkinPart s)
	Get the link number associated to the specified skin part.
SkinPart	iCub::skinDynLib::getSkinPartFromString (const std::string skinPartString)
	Get the SkinPart enum from the string version - essentially the opposite of SkinPart_s[].
yarp::sig::Vector	iCub::skinDynLib::toVector (yarp::sig::Matrix m)
	Converts a yarp::sig::Matrix to a yarp::sig::Vector.
yarp::sig::Vector	iCub::skinDynLib::vectorFromBottle (const yarp::os::Bottle b, int in, const int size)
	Retrieves a vector from a bottle.
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.
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.
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.
std::list< unsigned int >	iCub::skinDynLib::vectorofIntEqualto (const std::vector< int > vec, const int val)
	Returns a list of indexes corresponding to the values of vec that are equal to 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