tactileFingers.h

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/* 
 * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
 
#ifndef __PERCEPTIVEMODELS_TACTILEFINGERS_H__
#define __PERCEPTIVEMODELS_TACTILEFINGERS_H__
 
#include <yarp/os/all.h>
#include <yarp/sig/all.h>
 
#include <iCub/perception/sensors.h>
#include <iCub/perception/nodes.h>
#include <iCub/perception/models.h>
 
 
namespace iCub
{
 
namespace perception
{

class TactileFinger : public Node
{
protected:
    bool directLogic;
    double outputGain;
 
    bool extractSensorsData(yarp::sig::Vector &in) const;
 
public:
    bool fromProperty(const yarp::os::Property &options);

    void toProperty(yarp::os::Property &options) const;

    bool toStream(std::ostream &str) const;

    bool calibrate(const yarp::os::Property &options);

    bool getSensorsData(yarp::os::Value &data) const;

    bool getOutput(yarp::os::Value &out) const;    

    bool isCalibrated() const;

    bool isDirectLogic() const
    {
        return directLogic;
    }
};
 

class TactileFingersModel : public virtual Model
{
private:
    std::string type;
    std::string robot;
    std::string carrier;
 
    SensorPort    sensPort[60];
    TactileFinger fingers[5];
    bool configured;
    bool compensation;
 
    yarp::os::BufferedPort<yarp::os::Bottle> *port;
 
    void close();
 
public:
    TactileFingersModel();

    bool fromProperty(const yarp::os::Property &options);

    void toProperty(yarp::os::Property &options) const;

    bool toStream(std::ostream &str) const;

    bool calibrate(const yarp::os::Property &options);

    bool isCalibrated() const;

    bool getOutput(yarp::os::Value &out) const;    

    virtual ~TactileFingersModel();
};
 
 
}
 
}
 
#endif