visual-tracking-control
Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
RFMReaching Class Reference
Inheritance diagram for RFMReaching:
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Public Member Functions

bool configure (ResourceFinder &rf)
 
double getPeriod ()
 
bool updateModule ()
 
bool respond (const Bottle &command, Bottle &reply)
 
bool interruptModule ()
 
bool close ()
 

Private Types

enum  camsel { LEFT = 0, RIGHT = 1 }
 

Private Member Functions

bool setRightArmCartesianController ()
 
bool setGazeController ()
 
bool setRightArmRemoteControlboard ()
 
bool setTorsoRemoteControlboard ()
 
bool setTorsoDOF ()
 
bool unsetTorsoDOF ()
 
Vector readTorso ()
 
Vector readRootToFingers ()
 

Private Attributes

Port handler_port_
 
bool should_stop_ = false
 
SISkeleton * l_si_skel_
 
SISkeleton * r_si_skel_
 
BufferedPort< Vector > port_estimates_in_
 
BufferedPort< ImageOf< PixelRgb > > port_image_left_in_
 
BufferedPort< ImageOf< PixelRgb > > port_image_left_out_
 
BufferedPort< Bottle > port_click_left_
 
BufferedPort< ImageOf< PixelRgb > > port_image_right_in_
 
BufferedPort< ImageOf< PixelRgb > > port_image_right_out_
 
BufferedPort< Bottle > port_click_right_
 
BufferedPort< Bottle > port_px_left_endeffector
 
BufferedPort< Bottle > port_px_right_endeffector
 
PolyDriver rightarm_cartesian_driver_
 
ICartesianControl * itf_rightarm_cart_
 
PolyDriver gaze_driver_
 
IGazeControl * itf_gaze_
 
PolyDriver rightarm_remote_driver_
 
IEncoders * itf_rightarm_enc_
 
IControlLimits * itf_fingers_lim_
 
PolyDriver torso_remote_driver_
 
IEncoders * itf_torso_enc_
 
iCubFinger icub_index_
 
Matrix left_proj_
 
Matrix right_proj_
 
Matrix l_H_r_to_cam_
 
Matrix r_H_r_to_cam_
 
Matrix px_to_cartesian_
 
double traj_time_ = 2.5
 
Vector l_px_goal_
 
Vector r_px_goal_
 
Vector location_
 
bool take_estimates_ = false
 

Detailed Description

Definition at line 33 of file main.cpp.

Member Enumeration Documentation

◆ camsel

enum RFMReaching::camsel
private
Enumerator
LEFT 
RIGHT 

Definition at line 1005 of file main.cpp.

Member Function Documentation

◆ close()

bool RFMReaching::close ( )
inline

Definition at line 936 of file main.cpp.

◆ configure()

bool RFMReaching::configure ( ResourceFinder &  rf)
inline

Definition at line 36 of file main.cpp.

◆ getPeriod()

double RFMReaching::getPeriod ( )
inline

Definition at line 186 of file main.cpp.

◆ interruptModule()

bool RFMReaching::interruptModule ( )
inline

Definition at line 918 of file main.cpp.

◆ readRootToFingers()

Vector RFMReaching::readRootToFingers ( )
inlineprivate

Definition at line 1193 of file main.cpp.

◆ readTorso()

Vector RFMReaching::readTorso ( )
inlineprivate

Definition at line 1183 of file main.cpp.

◆ respond()

bool RFMReaching::respond ( const Bottle &  command,
Bottle &  reply 
)
inline

Definition at line 486 of file main.cpp.

◆ setGazeController()

bool RFMReaching::setGazeController ( )
inlineprivate

Definition at line 1052 of file main.cpp.

◆ setRightArmCartesianController()

bool RFMReaching::setRightArmCartesianController ( )
inlineprivate

Definition at line 1011 of file main.cpp.

◆ setRightArmRemoteControlboard()

bool RFMReaching::setRightArmRemoteControlboard ( )
inlineprivate

Definition at line 1078 of file main.cpp.

◆ setTorsoDOF()

bool RFMReaching::setTorsoDOF ( )
inlineprivate

Definition at line 1141 of file main.cpp.

◆ setTorsoRemoteControlboard()

bool RFMReaching::setTorsoRemoteControlboard ( )
inlineprivate

Definition at line 1113 of file main.cpp.

◆ unsetTorsoDOF()

bool RFMReaching::unsetTorsoDOF ( )
inlineprivate

Definition at line 1162 of file main.cpp.

◆ updateModule()

bool RFMReaching::updateModule ( )
inline

Definition at line 189 of file main.cpp.

Member Data Documentation

◆ gaze_driver_

PolyDriver RFMReaching::gaze_driver_
private

Definition at line 981 of file main.cpp.

◆ handler_port_

Port RFMReaching::handler_port_
private

Definition at line 959 of file main.cpp.

◆ icub_index_

iCubFinger RFMReaching::icub_index_
private

Definition at line 991 of file main.cpp.

◆ itf_fingers_lim_

IControlLimits* RFMReaching::itf_fingers_lim_
private

Definition at line 986 of file main.cpp.

◆ itf_gaze_

IGazeControl* RFMReaching::itf_gaze_
private

Definition at line 982 of file main.cpp.

◆ itf_rightarm_cart_

ICartesianControl* RFMReaching::itf_rightarm_cart_
private

Definition at line 979 of file main.cpp.

◆ itf_rightarm_enc_

IEncoders* RFMReaching::itf_rightarm_enc_
private

Definition at line 985 of file main.cpp.

◆ itf_torso_enc_

IEncoders* RFMReaching::itf_torso_enc_
private

Definition at line 989 of file main.cpp.

◆ l_H_r_to_cam_

Matrix RFMReaching::l_H_r_to_cam_
private

Definition at line 995 of file main.cpp.

◆ l_px_goal_

Vector RFMReaching::l_px_goal_
private

Definition at line 1000 of file main.cpp.

◆ l_si_skel_

SISkeleton* RFMReaching::l_si_skel_
private

Definition at line 962 of file main.cpp.

◆ left_proj_

Matrix RFMReaching::left_proj_
private

Definition at line 993 of file main.cpp.

◆ location_

Vector RFMReaching::location_
private

Definition at line 1002 of file main.cpp.

◆ port_click_left_

BufferedPort<Bottle> RFMReaching::port_click_left_
private

Definition at line 969 of file main.cpp.

◆ port_click_right_

BufferedPort<Bottle> RFMReaching::port_click_right_
private

Definition at line 973 of file main.cpp.

◆ port_estimates_in_

BufferedPort<Vector> RFMReaching::port_estimates_in_
private

Definition at line 965 of file main.cpp.

◆ port_image_left_in_

BufferedPort<ImageOf<PixelRgb> > RFMReaching::port_image_left_in_
private

Definition at line 967 of file main.cpp.

◆ port_image_left_out_

BufferedPort<ImageOf<PixelRgb> > RFMReaching::port_image_left_out_
private

Definition at line 968 of file main.cpp.

◆ port_image_right_in_

BufferedPort<ImageOf<PixelRgb> > RFMReaching::port_image_right_in_
private

Definition at line 971 of file main.cpp.

◆ port_image_right_out_

BufferedPort<ImageOf<PixelRgb> > RFMReaching::port_image_right_out_
private

Definition at line 972 of file main.cpp.

◆ port_px_left_endeffector

BufferedPort<Bottle> RFMReaching::port_px_left_endeffector
private

Definition at line 975 of file main.cpp.

◆ port_px_right_endeffector

BufferedPort<Bottle> RFMReaching::port_px_right_endeffector
private

Definition at line 976 of file main.cpp.

◆ px_to_cartesian_

Matrix RFMReaching::px_to_cartesian_
private

Definition at line 997 of file main.cpp.

◆ r_H_r_to_cam_

Matrix RFMReaching::r_H_r_to_cam_
private

Definition at line 996 of file main.cpp.

◆ r_px_goal_

Vector RFMReaching::r_px_goal_
private

Definition at line 1001 of file main.cpp.

◆ r_si_skel_

SISkeleton* RFMReaching::r_si_skel_
private

Definition at line 963 of file main.cpp.

◆ right_proj_

Matrix RFMReaching::right_proj_
private

Definition at line 994 of file main.cpp.

◆ rightarm_cartesian_driver_

PolyDriver RFMReaching::rightarm_cartesian_driver_
private

Definition at line 978 of file main.cpp.

◆ rightarm_remote_driver_

PolyDriver RFMReaching::rightarm_remote_driver_
private

Definition at line 984 of file main.cpp.

◆ should_stop_

bool RFMReaching::should_stop_ = false
private

Definition at line 960 of file main.cpp.

◆ take_estimates_

bool RFMReaching::take_estimates_ = false
private

Definition at line 1003 of file main.cpp.

◆ torso_remote_driver_

PolyDriver RFMReaching::torso_remote_driver_
private

Definition at line 988 of file main.cpp.

◆ traj_time_

double RFMReaching::traj_time_ = 2.5
private

Definition at line 999 of file main.cpp.

The documentation for this class was generated from the following file:
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