skinDynLib

Class representing a contact on the tactile sensor system (skin) of iCub. More...

Collaboration diagram for skinDynLib:

Classes
class	iCub::skinDynLib::dynContact
	Class representing an external contact acting on a link of the robot body. More...
class	iCub::skinDynLib::dynContactList
	Class representing a list of external contacts. More...
class	iCub::skinDynLib::iCubSkin
	Class that collects a set of skinParts. More...
class	iCub::skinDynLib::skinContact
	Class representing an external contact acting on the iCub' skin. More...
class	iCub::skinDynLib::skinContactList
	Class representing a list of external contacts acting on the iCub' skin. More...
class	iCub::skinDynLib::skinPart
	Class that encloses everything relate to a skinPart. More...
class	iCub::skinDynLib::Taxel
	Class that encloses everything relate to a Taxel, i.e. More...

Functions
BodyPart	iCub::skinDynLib::getBodyPart (SkinPart s)
	Get the body part associated to the specified skin part. More...
std::vector< SkinPart >	iCub::skinDynLib::getSkinParts (BodyPart b)
	Get the list of skin parts associated to the specified body part. More...
int	iCub::skinDynLib::getLinkNum (SkinPart s)
	Get the link number associated to the specified skin part. More...
SkinPart	iCub::skinDynLib::getSkinPartFromString (const std::string skinPartString)
	Get the SkinPart enum from the string version - essentially the opposite of SkinPart_s[]. More...
yarp::sig::Vector	iCub::skinDynLib::toVector (yarp::sig::Matrix m)
	Converts a yarp::sig::Matrix to a yarp::sig::Vector. More...
yarp::sig::Vector	iCub::skinDynLib::vectorFromBottle (const yarp::os::Bottle b, int in, const int size)
	Retrieves a vector from a bottle. More...
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. More...

Detailed Description

Class representing a contact on the tactile sensor system (skin) of iCub.

Description

Tested OS

Windows, Linux

Author

Andrea Del Prete

Copyright (C) 2010 RobotCub Consortium CopyPolicy: Released under the terms of the GNU GPL v2.0.

Function Documentation

getBodyPart()

BodyPart iCub::skinDynLib::getBodyPart

(

SkinPart

s

)

Get the body part associated to the specified skin part.

Parameters

s	the interested skin part

Returns

the associated body part

Definition at line 26 of file common.cpp.

getLinkNum()

int iCub::skinDynLib::getLinkNum

(

SkinPart

s

)

Get the link number associated to the specified skin part.

Parameters

s	the interested skin part

Returns

the associated link number, -1 if the link number is not defined

Definition at line 34 of file common.cpp.

getSkinPartFromString()

SkinPart iCub::skinDynLib::getSkinPartFromString

(

const std::string

skinPartString

)

Get the SkinPart enum from the string version - essentially the opposite of SkinPart_s[].

Parameters

skinPartString

the string of the skin part

Returns

the SkinPart enum, SKIN_PART_UNKNOWN if the string cannot be resolved

Definition at line 42 of file common.cpp.

getSkinParts()

vector< SkinPart > iCub::skinDynLib::getSkinParts

(

BodyPart

b

)

Get the list of skin parts associated to the specified body part.

Parameters

b	the interested body part

Returns

list of skin part associated to the specified body part

Definition at line 17 of file common.cpp.

toVector()

yarp::sig::Vector iCub::skinDynLib::toVector

(

yarp::sig::Matrix

m

)

Converts a yarp::sig::Matrix to a yarp::sig::Vector.

Parameters

m	the matrix to convert

Returns

the matrix converted to a vector

Definition at line 77 of file common.cpp.

vectorFromBottle()

yarp::sig::Vector iCub::skinDynLib::vectorFromBottle	(	const yarp::os::Bottle	b,
		int	in,
		const int	size
	)

Retrieves a vector from a bottle.

Parameters

b	the bottle to read the vector from
in	the start index
size	the size of the vector (obviously, this have to hold: b.size()>in+size )

Returns

the vector extracted from the bottle

Definition at line 89 of file common.cpp.

vectorofIntEqualto()

std::list<unsigned int> iCub::skinDynLib::vectorofIntEqualto ( const std::vector< int >  vec, const int  val  )

inline

Returns a list of indexes corresponding to the values of vec that are equal to val.

Parameters

vec	the vector under evaluation
val	the value to compare the vector to

Returns

a list of indexes

Definition at line 265 of file common.h.