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);