iCub-main
depth2kin_IDL.h
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1 /*
2  * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3  * SPDX-License-Identifier: BSD-3-Clause
4  */
5 
6 // Autogenerated by Thrift Compiler (0.14.1-yarped)
7 //
8 // This is an automatically generated file.
9 // It could get re-generated if the ALLOW_IDL_GENERATION flag is on.
10 
11 #ifndef YARP_THRIFT_GENERATOR_SERVICE_DEPTH2KIN_IDL_H
12 #define YARP_THRIFT_GENERATOR_SERVICE_DEPTH2KIN_IDL_H
13 
14 #include <yarp/os/Wire.h>
15 #include <yarp/os/idl/WireTypes.h>
16 #include <PointReq.h>
17 #include <yarp/os/Property.h>
18 #include <yarp/sig/Vector.h>
19 
25  public yarp::os::Wire
26 {
27 public:
28  // Constructor
30 
35  virtual std::int32_t getNumExperts();
36 
41  virtual bool clearExperts();
42 
48  virtual bool load();
49 
55  virtual bool save();
56 
70  virtual bool log(const std::string& type);
71 
76  virtual bool explore();
77 
82  virtual bool stop();
83 
90  virtual bool setMaxDist(const double max_dist);
91 
97  virtual double getMaxDist();
98 
105  virtual bool setRoi(const std::int32_t side);
106 
112  virtual std::int32_t getRoi();
113 
121  virtual bool setBlockEyes(const double block_eyes);
122 
127  virtual double getBlockEyes();
128 
134  virtual bool blockEyes();
135 
140  virtual bool clearEyes();
141 
147  virtual bool setArm(const std::string& arm);
148 
153  virtual std::string getArm();
154 
164  virtual bool setCalibrationType(const std::string& type, const std::string& extrapolation = "auto");
165 
170  virtual std::string getCalibrationType();
171 
178  virtual yarp::os::Property calibrate(const bool rm_outliers = true);
179 
185  virtual bool pushCalibrator();
186 
192  virtual bool setTouchWithExperts(const std::string& sw);
193 
199  virtual std::string getTouchWithExperts();
200 
207  virtual bool touch(const std::int32_t u, const std::int32_t v);
208 
218  virtual PointReq getPoint(const std::string& arm, const double x, const double y, const double z);
219 
227  virtual std::vector<PointReq> getPoints(const std::string& arm, const std::vector<double>& coordinates);
228 
235  virtual bool setExperiment(const std::string& exp, const std::string& v);
236 
242  virtual std::string getExperiment(const std::string& exp);
243 
251  virtual yarp::sig::Vector getExtrinsics(const std::string& eye);
252 
258  virtual bool resetExtrinsics(const std::string& eye);
259 
266  virtual bool setExplorationWait(const double wait);
267 
273  virtual double getExplorationWait();
274 
281  virtual bool setExplorationInTargetTol(const double tol);
282 
288  virtual double getExplorationInTargetTol();
289 
296  virtual bool setTouchInTargetTol(const double tol);
297 
303  virtual double getTouchInTargetTol();
304 
316  virtual bool setExplorationSpace(const double cx, const double cy, const double cz, const double a, const double b);
317 
328  virtual bool setExplorationSpaceDelta(const double dcx = 0.000000, const double dcy = 0.000000, const double dcz = 0.000000, const double da = 0.000000, const double db = 0.000000);
329 
336  virtual yarp::os::Property getExplorationData();
337 
342  virtual bool clearExplorationData();
343 
350  virtual bool posture(const std::string& type);
351 
357  virtual bool calibrateDepth();
358 
363  virtual bool quit();
364 
365  // help method
366  virtual std::vector<std::string> help(const std::string& functionName = "--all");
367 
368  // read from ConnectionReader
369  bool read(yarp::os::ConnectionReader& connection) override;
370 };
371 
372 #endif // YARP_THRIFT_GENERATOR_SERVICE_DEPTH2KIN_IDL_H
PointReq IDL structure to send/receive points.
Definition: PointReq.h:23
depth2kin_IDL IDL Interface to depth2kin services.
Definition: depth2kin_IDL.h:26
virtual std::vector< std::string > help(const std::string &functionName="--all")
virtual yarp::os::Property getExplorationData()
Return some progress about the ongoing exploration.
virtual bool quit()
Quit the module.
virtual bool touch(const std::int32_t u, const std::int32_t v)
Yield a touch action with the finger on a depth point.
virtual yarp::os::Property calibrate(const bool rm_outliers=true)
Ask the current calibrator to carry out the calibration.
virtual std::string getArm()
Return the current arm.
virtual bool stop()
Yield an asynchronous stop of the exploration phase.
virtual bool save()
Save the current list of experts into the configuration file.
virtual bool resetExtrinsics(const std::string &eye)
Reset the extrinsics matrix to default eye matrix.
virtual double getBlockEyes()
Return the current angle to keep the vergence at.
virtual bool setTouchWithExperts(const std::string &sw)
Enable/disable the use of experts for touch test.
virtual std::vector< PointReq > getPoints(const std::string &arm, const std::vector< double > &coordinates)
Retrieve the compensated kinematic points corresponding to the input depth points.
virtual bool log(const std::string &type)
Store on file the log of system response computed out of the explored set of input-output pairs.
virtual bool clearEyes()
Remove the block on the eyes.
virtual bool blockEyes()
Tell the gaze to immediately steer the eyes to the stored vergence angle and stay still.
virtual double getExplorationInTargetTol()
Return the current cartesian tolerance used during exploration.
virtual bool clearExplorationData()
Clean up the internal list of explored points pairs.
virtual bool clearExperts()
Clear the list of currently available experts.
virtual bool setTouchInTargetTol(const double tol)
Set up the cartesian tolerance used during a touch actions.
bool read(yarp::os::ConnectionReader &connection) override
virtual bool setExplorationInTargetTol(const double tol)
Set up the cartesian tolerance used during exploration.
virtual PointReq getPoint(const std::string &arm, const double x, const double y, const double z)
Retrieve the compensated kinematic point corresponding to the input depth point.
virtual bool setArm(const std::string &arm)
Select the arm to deal with.
virtual double getExplorationWait()
Return the current wait timeout used during exploration between two consecutive data points.
virtual double getTouchInTargetTol()
Return the current cartesian tolerance used during touch actions.
virtual bool pushCalibrator()
Push the current calibrator in the list of experts.
virtual bool setExplorationSpaceDelta(const double dcx=0.000000, const double dcy=0.000000, const double dcz=0.000000, const double da=0.000000, const double db=0.000000)
Set up the exploration space in terms of differences with respect to the internally coded couple of e...
virtual std::string getTouchWithExperts()
Return the current status of the switch for experts usage during touch test.
virtual bool setCalibrationType(const std::string &type, const std::string &extrapolation="auto")
Set up the calibrator type.
virtual std::int32_t getNumExperts()
Return the number of available experts.
virtual bool setBlockEyes(const double block_eyes)
Set the vergence angle used to keep the gaze fixed.
virtual yarp::sig::Vector getExtrinsics(const std::string &eye)
Retrieve the current extrinsics camera parameters.
virtual bool posture(const std::string &type)
Make the robot reach a predefined posture.
virtual bool setExplorationWait(const double wait)
Set up the wait timeout used during exploration between two consecutive data points.
virtual std::string getExperiment(const std::string &exp)
Return the current status of the experiment.
virtual bool explore()
Start the exploration phase.
virtual bool setExperiment(const std::string &exp, const std::string &v)
Set on/off an experiment.
virtual bool setMaxDist(const double max_dist)
Set the maximum allowed distance between the depth point and kinematic prediction to enable data coll...
virtual bool setExplorationSpace(const double cx, const double cy, const double cz, const double a, const double b)
Set up the internally coded exploration space composed by two co-centered ellipses,...
virtual std::int32_t getRoi()
Return the side of the squared window used to filter data collection in the image plane.
virtual bool setRoi(const std::int32_t side)
Set the side of the squared window used to filter data collection in the image plane.
virtual std::string getCalibrationType()
Return the current calibration type.
virtual bool calibrateDepth()
Put the robot in a suitable predefined posture and then execute depth calibration.
virtual bool load()
Reload the list of experts stored within the configuration file.
virtual double getMaxDist()
Return the maximum allowed distance between depth point and kinematic prediction to enable data colle...
exp(-x3 *T)]
static int v
Definition: iCub_Sim.cpp:42