213 #ifndef __ICUB_skinManager_H__
214 #define __ICUB_skinManager_H__
218 #include <yarp/os/RFModule.h>
219 #include <yarp/os/Network.h>
220 #include <yarp/os/Vocab.h>
227 namespace skinManager {
230 bool configure(yarp::os::ResourceFinder &rf);
233 bool respond(
const yarp::os::Bottle& command, yarp::os::Bottle& reply);
239 static const bool CALIBRATION_ALLOWED_DEFAULT;
240 static const int MIN_BASELINE_DEFAULT;
241 static const int PERIOD_DEFAULT;
242 static const int ADD_THRESHOLD_DEFAULT;
243 static const bool SMOOTH_FILTER_DEFAULT;
244 static const float SMOOTH_FACTOR_DEFAULT;
245 static const float COMPENSATION_GAIN_DEFAULT;
246 static const float CONTACT_COMPENSATION_GAIN_DEFAULT;
247 static const std::string MODULE_NAME_DEFAULT;
248 static const std::string ROBOT_NAME_DEFAULT;
249 static const bool ZERO_UP_RAW_DATA_DEFAULT;
250 static const bool BINARIZATION_DEFAULT;
251 static const std::string RPC_PORT_DEFAULT;
254 std::string moduleName;
255 std::string robotName;
258 yarp::os::Port handlerPort;
264 void addToBottle(yarp::os::Bottle& b,
const yarp::sig::Vector& v);
265 void addToBottle(yarp::os::Bottle& b,
const std::vector<yarp::sig::Vector>& v);
266 bool bottleToVector(
const yarp::os::Bottle& b, yarp::sig::Vector& v);
267 bool identifyCommand(yarp::os::Bottle commandBot,
SkinManagerCommand &com, yarp::os::Bottle& params);
bool respond(const yarp::os::Bottle &command, yarp::os::Bottle &reply)
bool configure(yarp::os::ResourceFinder &rf)
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.