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::dev::PolyDriver drvEncs;
217 yarp::dev::PolyDriver drvMAIS;
231 CalibThread() : model(NULL),
done(
false) { }
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);
A class that implements preprocessing based on a fixed range of outputs to a fixed range of outputs.
This is basic implementation of the LSSVM algorithms.
An abstract class that provides basic methods for interfacing with the data acquisition.
An abstract class that exposes the basic methods for the handling of data acquired through the attach...
This class implements the reading of encoders through MultipleAnalogSensors (MAS) interfaces.
This class implements the reading of joints encoders.
An implementation of the Node class that represents the springy finger.
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 finger output.
void toProperty(yarp::os::Property &options) const
Return a Property representation of all the node parameters.
bool toStream(std::ostream &str) const
Similar to the toProperty() method but it operates on output streams (e.g.
iCub::learningmachine::LSSVMLearner lssvm
double getCalibVel() const
Return 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.
void setCalibVel(const double vel)
Set the finger actuation velocity used while calibrating.
bool extractSensorsData(yarp::sig::Vector &in, yarp::sig::Vector &out) const
bool calibrate(const yarp::os::Property &options)
Allow to send calibration commands to the finger.
double calibratingVelocity
iCub::learningmachine::FixedRangeScaler scaler
bool isCalibrated() const
Return the internal status of the calibration.
A class that provides the user with a suitable framework to deal with the elastic approach for the pr...
virtual ~SpringyFingersModel()
Destructor.
void toProperty(yarp::os::Property &options) const
Return a Property representation of all the model parameters.
bool toStream(std::ostream &str) const
Similar to the toProperty() method but it operates on output streams (e.g.
bool isCalibrated() const
Return the internal status of the calibration.
SpringyFingersModel()
Constructor.
bool calibrate(const yarp::os::Property &options)
Execute the fingers calibration.
bool fromProperty(const yarp::os::Property &options)
Configure the model taking its parameters from a Property object.
bool getOutput(yarp::os::Value &out) const
Retrieve the complete output of the model.
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.