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56 #ifndef __PERCEPTIVEMODELS_SPRINGYFINGERS_H__
57 #define __PERCEPTIVEMODELS_SPRINGYFINGERS_H__
61 #include <yarp/os/all.h>
62 #include <yarp/dev/all.h>
63 #include <yarp/sig/all.h>
125 void toProperty(yarp::os::Property &options)
const;
135 bool toStream(std::ostream &str)
const;
149 bool calibrate(
const yarp::os::Property &options);
216 yarp::os::BufferedPort<yarp::os::Bottle> *port;
217 yarp::dev::PolyDriver driver;
234 const int joint,
const double min,
const double max)
237 this->finger=&finger;
245 if (!
done && (model!=NULL))
247 model->calibrateFinger(*finger,joint,
min,
max);
251 yarp::os::Time::delay(0.1);
254 bool isDone()
const {
return done; }
259 const double min,
const double max);
291 void toProperty(yarp::os::Property &options)
const;
301 bool toStream(std::ostream &str)
const;
318 bool calibrate(
const yarp::os::Property &options);
bool getOutput(yarp::os::Value &out) const
Retrieve the finger output.
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
double getCalibVel() const
Return the finger actuation velocity used while calibrating.
double calibratingVelocity
bool isCalibrated() const
Return the internal status of the calibration.
iCub::learningmachine::FixedRangeScaler scaler
void toProperty(yarp::os::Property &options) const
Return a Property representation of all the node parameters.
bool fromProperty(const yarp::os::Property &options)
Configure the finger taking its parameters from a Property object.
bool getOutput(yarp::os::Value &out) const
Retrieve the complete output of the model.
bool toStream(std::ostream &str) const
Similar to the toProperty() method but it operates on output streams (e.g.
iCub::learningmachine::LSSVMLearner lssvm
SpringyFingersModel()
Constructor.
bool isCalibrated() const
Return the internal status of the calibration.
bool toStream(std::ostream &str) const
Similar to the toProperty() method but it operates on output streams (e.g.
string(REPLACE "-rdynamic" "" CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "${CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS}") include_directories($
virtual ~SpringyFingersModel()
Destructor.
bool extractSensorsData(yarp::sig::Vector &in, yarp::sig::Vector &out) const
bool fromProperty(const yarp::os::Property &options)
Configure the model taking its parameters from a Property object.
void setCalibVel(const double vel)
Set the finger actuation velocity used while calibrating.
bool getSensorsData(yarp::os::Value &data) const
Retrieve data finger from the joints used both for calibration and normal operation.
bool calibrate(const yarp::os::Property &options)
Execute the fingers calibration.
bool calibrate(const yarp::os::Property &options)
Allow to send calibration commands to the finger.
void toProperty(yarp::os::Property &options) const
Return a Property representation of all the model parameters.