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36 #ifndef __PERCEPTIVEMODELS_MODELS_H__
37 #define __PERCEPTIVEMODELS_MODELS_H__
43 #include <yarp/os/Value.h>
44 #include <yarp/os/Property.h>
67 std::map<std::string,Node*>
nodes;
69 virtual void printMessage(
const int logtype,
const int level,
70 const char *format, ...)
const;
108 virtual bool fromProperty(
const yarp::os::Property &options) = 0;
115 virtual void toProperty(yarp::os::Property &options)
const = 0;
125 virtual bool toStream(std::ostream &str)
const = 0;
138 virtual bool calibrate(
const yarp::os::Property &options) = 0;
Node * getNode(const std::string &name) const
Retrieve an attached node by its name.
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
virtual bool getOutput(yarp::os::Value &out) const =0
Provide the higher layers with the model output computed over the attached sensors.
virtual bool toStream(std::ostream &str) const =0
Similar to the toProperty() method but it operates on output streams (e.g.
virtual ~Model()
Destructor.
virtual bool isCalibrated() const =0
Return the internal status of the calibration.
std::string getName() const
Retrieve the model name.
string(REPLACE "-rdynamic" "" CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "${CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS}") include_directories($
void attachNode(Node &node)
Attach a node object to the model.
virtual bool fromProperty(const yarp::os::Property &options)=0
Configure the model taking its parameters from a Property object.
virtual void printMessage(const int logtype, const int level, const char *format,...) const
std::map< std::string, Node * > nodes
virtual void toProperty(yarp::os::Property &options) const =0
Return a Property representation of all the model parameters.
virtual bool calibrate(const yarp::os::Property &options)=0
Some kinds of models need to be calibrated to properly operate.