skinContact.h

Go to the documentation of this file.

/*
 * Copyright (C) 2010-2011 RobotCub Consortium
 * Author: Andrea Del Prete
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __SKINCONT_H__
#define __SKINCONT_H__
 
#include <iostream>
#include <iomanip>
#include <vector>
#include <yarp/sig/Vector.h>
#include "iCub/skinDynLib/dynContact.h"
 
namespace iCub
{
 
namespace skinDynLib
{
 
class skinContact : public dynContact
{
protected:
    // id of the skin patch where the contact is applied
    SkinPart skinPart;
    // average pressure applied on the contact area 
    // (if the skin is not calibrated in pressure this is just the average taxel output)
    double pressure;
    // geometric center of the contact area expressed w.r.t. the reference frame of the link where the contact is applied
    yarp::sig::Vector geoCenter;
    // contact area normal direction (link reference frame)
    yarp::sig::Vector normalDir;
    // number of taxels activated by the contact
    unsigned int activeTaxels;
    // list of active taxel ids
    std::vector<unsigned int> taxelList;
    
public:
    //~~~~~~~~~~~~~~~~~~~~~~
    //   CONSTRUCTORS
    //~~~~~~~~~~~~~~~~~~~~~~
    skinContact();
 
    skinContact(const dynContact &c);
 
    skinContact(const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
        const yarp::sig::Vector &_geoCenter, unsigned int _activeTaxels, double _pressure);
 
    skinContact(const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
        const yarp::sig::Vector &_geoCenter, std::vector<unsigned int> _taxelList, double _pressure);
 
    skinContact(const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
        const yarp::sig::Vector &_geoCenter, unsigned int _activeTaxels, double _pressure, const yarp::sig::Vector &_normalDir);
 
    skinContact(const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
        const yarp::sig::Vector &_geoCenter, std::vector<unsigned int> _taxelList, double _pressure, const yarp::sig::Vector &_normalDir);
    
    skinContact(const BodyPart &_bodyPart, const SkinPart &_skinPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
        const yarp::sig::Vector &_geoCenter, std::vector<unsigned int> _taxelList, double _pressure, const yarp::sig::Vector &_normalDir,
    const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu);
 
 
    //~~~~~~~~~~~~~~~~~~~~~~
    //   GET methods
    //~~~~~~~~~~~~~~~~~~~~~~
    const yarp::sig::Vector&            getGeoCenter()          const{ return geoCenter; }
    const yarp::sig::Vector&            getNormalDir()          const{ return normalDir; }
    double                              getPressure()           const{ return pressure; }
    unsigned int                        getActiveTaxels()       const{ return activeTaxels; }
    SkinPart                            getSkinPart()           const{ return skinPart; }
    std::string                         getSkinPartName()       const{ return SkinPart_s[skinPart]; }
    std::vector<unsigned int>           getTaxelList()          const{ return taxelList; }
    
   
    //~~~~~~~~~~~~~~~~~~~~~~
    //   SET methods
    //~~~~~~~~~~~~~~~~~~~~~~    
    bool setGeoCenter(const yarp::sig::Vector &_geoCenter);
    bool setNormalDir(const yarp::sig::Vector &_normalDir);
    bool setPressure(double _pressure);
    void setActiveTaxels(unsigned int _activeTaxels);
    void setSkinPart(SkinPart _skinPart);
    void setTaxelList(const std::vector<unsigned int> &list);
 
    //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    //   SERIALIZATION methods
    //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    /*
    * Read skinContact from a connection.
    * @param connection connection to read from
    * @return true iff a skinContact was read correctly
    */
    virtual bool read(yarp::os::ConnectionReader& connection) override;
 
    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
    virtual yarp::sig::Vector toVector() const;
 
    virtual bool fromVector(const yarp::sig::Vector &v);
 
    virtual std::string toString(int precision=-1) const override;
   
};
 
 
}
 
}//end namespace
 
#endif