skinPart.h

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#ifndef __SKINPART_H__
#define __SKINPART_H__
 
#include "iCub/skinDynLib/Taxel.h"
#include "iCub/skinDynLib/common.h"
 
#include <yarp/os/RFModule.h>
 
#include <fstream>
#include <vector>
#include <map>
#include <list>
#include <mutex>
 
namespace iCub
{
namespace skinDynLib
{
 
class skinPartBase
{
  public:
    std::string name;
    int         size;   // theoretical maximum size of the skinPart
                        // it corresponds to the number of values on the respective port 
                        // and number of rows in the taxel positions .txt files in
                        // icub-main/app/skinGui/conf/positions in the [calibration] group 
                        // IMPORTANT: it may differ from taxels.size()
    std::string version; // Version of the skin part - "V1", "V2", "V2.1" (or "unknown_version"). 
                         // Depending on the physical version of skin on the robot. For example,
                         // forearm V2 has one triangle more compared to V1 and also partly different taxel IDs. 
    std::recursive_mutex recursive_mtx;
  public:
    skinPartBase();
    
    skinPartBase(const skinPartBase &_spb);
 
    virtual skinPartBase &operator=(const skinPartBase &_sp);
 
    void setName(const std::string &_name);
 
    std::string getName();
 
    void setSize(int _size);
 
    int getSize();
 
    void setVersion(const std::string &_version);
 
    std::string getVersion();
    
    virtual bool setTaxelPosesFromFile(const std::string &_filePath, const std::string &_spatial_sampling="default") { return false; }
 
    virtual void print(int verbosity=0);
 
    virtual std::string toString(int precision=0);
};
 
class skinPart : public skinPartBase
{
  public:
    std::vector<Taxel*> taxels;
      
    std::string spatial_sampling;
 
    std::vector<int> taxel2Repr; 
 
    std::map<int, std::list<unsigned int> > repr2TaxelList;
 
  protected:
    bool setTaxelPosesFromFileOld(const std::string &_filePath);
 
    bool mapTaxelsOntoThemselves();
 
  public:
    skinPart();
 
    skinPart(const std::string &_filePath);
 
    skinPart(const skinPart &_sp);
 
    skinPart &operator=(const skinPart &_sp);
 
    bool setTaxelPosesFromFile(const std::string &_filePath,
                               const std::string &_spatial_sampling="default");
 
    bool initRepresentativeTaxels();
 
    int getTaxelsSize();
 
    void clearTaxels();
 
    void print(int verbosity=0);
 
    std::string toString(int precision=0);
 
    ~skinPart();
};
 
}
 
}//end namespace
 
#endif
 
// empty line to make gcc happy