25#include <yarp/sig/Vector.h>
26#include <yarp/sig/Matrix.h>
51 "torso",
"head",
"left_arm",
"right_arm",
"left_leg",
"right_leg",
52 "all_body_parts",
"lower_body_parts",
"upper_body_parts",
"body_part_size"
66 "l_hand",
"l_forearm",
"l_upper_arm",
67 "r_hand",
"r_forearm",
"r_upper_arm",
69 "l_upper_leg",
"l_lower_leg",
"l_foot",
70 "r_upper_leg",
"r_lower_leg",
"r_foot",
71 "all_skin_parts",
"skin_part_size"
120 "head",
"torso",
"left_arm",
"right_arm",
"left_leg",
"right_leg",
121 "all_body_parts",
"body_part_size"
133 "skin_left_hand",
"skin_left_arm",
134 "skin_right_hand",
"skin_right_arm",
135 "all_skin_parts",
"skin_part_size"
156 {SKIN_RIGHT_ARM, -1},
166 "index",
"middle",
"ring",
"little",
"thumb",
"palm",
167 "all_hand_parts",
"hand_part_size"
220yarp::sig::Vector
toVector(yarp::sig::Matrix m);
230yarp::sig::Vector
vectorFromBottle(
const yarp::os::Bottle b,
int in,
const int size);
248yarp::sig::Matrix
matrixFromBottle(
const yarp::os::Bottle b,
int in,
const int r,
const int c);
267 std::list<unsigned int> res;
268 for (
size_t i = 0; i < vec.size(); i++)
SkinPart getSkinPartFromString(const std::string skinPartString)
Get the SkinPart enum from the string version - essentially the opposite of SkinPart_s[].
int getLinkNum(SkinPart s)
Get the link number associated to the specified skin part.
std::vector< SkinPart > getSkinParts(BodyPart b)
Get the list of skin parts associated to the specified body part.
std::list< unsigned int > 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.
yarp::sig::Vector toVector(yarp::sig::Matrix m)
Converts a yarp::sig::Matrix to a yarp::sig::Vector.
yarp::sig::Vector vectorFromBottle(const yarp::os::Bottle b, int in, const int size)
Retrieves a vector from a bottle.
BodyPart getBodyPart(SkinPart s)
Get the body part associated to the specified skin part.
const std::string HandPart_s[]
void 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.
const Skin_2_Body SkinPart_2_BodyPart[SKIN_PART_SIZE]
const std::string SkinPart_s[]
const std::string BodyPart_s[]
void 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.
static const int LEG_FT_SENSOR_LINK_INDEX
const Skin_2_Link SkinPart_2_LinkNum[SKIN_PART_SIZE]
yarp::sig::Matrix matrixFromBottle(const yarp::os::Bottle b, int in, const int r, const int c)
Retrieves a matrix from a bottle.
static const int ARM_FT_SENSOR_LINK_INDEX
static const int TORSO_DOF
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.