#include <VisualProprioception.h>

Inheritance diagram for VisualProprioception:

Public Member Functions
	VisualProprioception (const bool use_thumb, const bool use_forearm, const int num_images, const double resolution_ratio, const yarp::os::ConstString &cam_sel, const yarp::os::ConstString &laterality, const yarp::os::ConstString &context)

	VisualProprioception (const VisualProprioception &proprio)

	VisualProprioception (VisualProprioception &&proprio) noexcept

	~VisualProprioception () noexcept

VisualProprioception &	operator= (const VisualProprioception &proprio)

VisualProprioception &	operator= (VisualProprioception &&proprio) noexcept

void	observe (const Eigen::Ref< const Eigen::MatrixXf > &cur_states, cv::OutputArray observations) override

bool	setProperty (const std::string property) override

int	getOGLTilesNumber ()

int	getOGLTilesRows ()

int	getOGLTilesCols ()

unsigned int	getCamWidth ()

unsigned int	getCamHeight ()

float	getCamFx ()

float	getCamFy ()

float	getCamCx ()

float	getCamCy ()

Protected Member Functions
yarp::sig::Matrix	getInvertedH (const double a, const double d, const double alpha, const double offset, const double q)

bool	openGazeController ()

bool	openAnalogs ()

bool	closeAnalogs ()

bool	setiCubParams ()

void	setArmJoints (const yarp::sig::Vector &q)

void	setArmJoints (const yarp::sig::Vector &q, const yarp::sig::Vector &analogs, const yarp::sig::Matrix &analog_bounds)

void	getModelPose (const Eigen::Ref< const Eigen::MatrixXf > &cur_states, std::vector< Superimpose::ModelPoseContainer > &hand_poses)

yarp::sig::Vector	readArmEncoders ()

yarp::sig::Vector	readTorso ()

yarp::sig::Vector	readRootToFingers ()

yarp::sig::Vector	readRootToEye (const yarp::os::ConstString cam_sel)

bool	file_found (const yarp::os::ConstString &file)

Protected Attributes
yarp::os::ConstString	log_ID_ = "[VisualProprioception]"

yarp::os::ConstString	laterality_

yarp::dev::PolyDriver	drv_gaze_

yarp::dev::IGazeControl *	itf_gaze_

iCub::iKin::iCubArm	icub_arm_

iCub::iKin::iCubFinger	icub_kin_finger_ [3]

iCub::iKin::iCubEye	icub_kin_eye_

yarp::os::BufferedPort< yarp::os::Bottle >	port_head_enc_

yarp::os::BufferedPort< yarp::os::Bottle >	port_torso_enc_

yarp::os::BufferedPort< yarp::os::Bottle >	port_arm_enc_

yarp::dev::PolyDriver	drv_right_hand_analog_

yarp::dev::IAnalogSensor *	itf_right_hand_analog_

yarp::sig::Matrix	right_hand_analogs_bounds_

bool	analogs_ = false

yarp::os::ConstString	cam_sel_

double	cam_x_ [3]

double	cam_o_ [4]

unsigned int	cam_width_

unsigned int	cam_height_

float	cam_fx_

float	cam_cx_

float	cam_fy_

float	cam_cy_

double	resolution_ratio_

bool	use_thumb_

bool	use_forearm_

SICAD::ModelPathContainer	cad_obj_

SICAD *	si_cad_

int	ogl_tiles_rows_

int	ogl_tiles_cols_

Detailed Description

Definition at line 20 of file VisualProprioception.h.

Constructor & Destructor Documentation

◆ VisualProprioception() [1/3]

VisualProprioception::VisualProprioception	(	const bool	use_thumb,
		const bool	use_forearm,
		const int	num_images,
		const double	resolution_ratio,
		const yarp::os::ConstString &	cam_sel,
		const yarp::os::ConstString &	laterality,
		const yarp::os::ConstString &	context
	)

◆ VisualProprioception() [2/3]

VisualProprioception::VisualProprioception ( const VisualProprioception & proprio )

Definition at line 263 of file VisualProprioception.cpp.

References cam_o_, cam_x_, icub_arm_, and icub_kin_finger_.

◆ VisualProprioception() [3/3]

VisualProprioception::VisualProprioception ( VisualProprioception && proprio )

noexcept

Definition at line 290 of file VisualProprioception.cpp.

References cam_o_, cam_x_, and icub_kin_finger_.

◆ ~VisualProprioception()

VisualProprioception::~VisualProprioception ( )

noexcept

Definition at line 250 of file VisualProprioception.cpp.

References PlayGatePose::port_arm_enc_, and PlayGatePose::port_torso_enc_.

Member Function Documentation

◆ closeAnalogs()

bool VisualProprioception::closeAnalogs ( )

protected

Definition at line 719 of file VisualProprioception.cpp.

References analogs_, and drv_right_hand_analog_.

Referenced by setProperty().

◆ file_found()

bool VisualProprioception::file_found ( const yarp::os::ConstString & file )

protected

Definition at line 541 of file VisualProprioception.cpp.

References log_ID_.

◆ getCamCx()

float VisualProprioception::getCamCx ( )

Definition at line 595 of file VisualProprioception.cpp.

References cam_cx_.

◆ getCamCy()

float VisualProprioception::getCamCy ( )

Definition at line 601 of file VisualProprioception.cpp.

References cam_cy_.

◆ getCamFx()

float VisualProprioception::getCamFx ( )

Definition at line 583 of file VisualProprioception.cpp.

References cam_fx_.

◆ getCamFy()

float VisualProprioception::getCamFy ( )

Definition at line 589 of file VisualProprioception.cpp.

References cam_fy_.

◆ getCamHeight()

unsigned int VisualProprioception::getCamHeight ( )

Definition at line 577 of file VisualProprioception.cpp.

References cam_height_.

◆ getCamWidth()

unsigned int VisualProprioception::getCamWidth ( )

Definition at line 571 of file VisualProprioception.cpp.

References cam_width_.

◆ getInvertedH()

yarp::sig::Matrix VisualProprioception::getInvertedH	(	const double	a,
		const double	d,
		const double	alpha,
		const double	offset,
		const double	q
	)

protected

Definition at line 607 of file VisualProprioception.cpp.

Referenced by getModelPose().

◆ getModelPose()

void VisualProprioception::getModelPose	(	const Eigen::Ref< const Eigen::MatrixXf > &	cur_states,
		std::vector< Superimpose::ModelPoseContainer > &	hand_poses
	)

protected

Definition at line 374 of file VisualProprioception.cpp.

References getInvertedH(), icub_arm_, icub_kin_finger_, use_forearm_, and use_thumb_.

Referenced by observe().

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◆ getOGLTilesCols()

int VisualProprioception::getOGLTilesCols ( )

Definition at line 565 of file VisualProprioception.cpp.

References si_cad_.

◆ getOGLTilesNumber()

int VisualProprioception::getOGLTilesNumber ( )

Definition at line 553 of file VisualProprioception.cpp.

References si_cad_.

◆ getOGLTilesRows()

int VisualProprioception::getOGLTilesRows ( )

Definition at line 559 of file VisualProprioception.cpp.

References si_cad_.

◆ observe()

void VisualProprioception::observe	(	const Eigen::Ref< const Eigen::MatrixXf > &	cur_states,
		cv::OutputArray	observations
	)

override

Definition at line 451 of file VisualProprioception.cpp.

References cam_o_, cam_x_, getModelPose(), and si_cad_.

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◆ openAnalogs()

bool VisualProprioception::openAnalogs ( )

protected

Definition at line 684 of file VisualProprioception.cpp.

References analogs_, cam_sel_, drv_right_hand_analog_, itf_right_hand_analog_, laterality_, and log_ID_.

Referenced by setProperty().

◆ openGazeController()

bool VisualProprioception::openGazeController ( )

protected

Definition at line 655 of file VisualProprioception.cpp.

References cam_sel_, drv_gaze_, itf_gaze_, and log_ID_.

◆ operator=() [1/2]

VisualProprioception & VisualProprioception::operator= ( const VisualProprioception & proprio )

Definition at line 325 of file VisualProprioception.cpp.

◆ operator=() [2/2]

VisualProprioception & VisualProprioception::operator= ( VisualProprioception && proprio )

noexcept

Definition at line 334 of file VisualProprioception.cpp.

References cad_obj_, cam_o_, cam_x_, icub_arm_, icub_kin_finger_, and si_cad_.

◆ readArmEncoders()

yarp::sig::Vector VisualProprioception::readArmEncoders ( )

protected

◆ readRootToEye()

Vector VisualProprioception::readRootToEye ( const yarp::os::ConstString cam_sel )

protected

Definition at line 761 of file VisualProprioception.cpp.

References port_head_enc_, and readTorso().

Referenced by setiCubParams().

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◆ readRootToFingers()

Vector VisualProprioception::readRootToFingers ( )

protected

Definition at line 747 of file VisualProprioception.cpp.

References port_arm_enc_, and readTorso().

Referenced by setiCubParams().

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◆ readTorso()

Vector VisualProprioception::readTorso ( )

protected

Definition at line 733 of file VisualProprioception.cpp.

References port_torso_enc_.

Referenced by readRootToEye(), and readRootToFingers().

◆ setArmJoints() [1/2]

void VisualProprioception::setArmJoints ( const yarp::sig::Vector & q )

protected

Referenced by setiCubParams().

◆ setArmJoints() [2/2]

void VisualProprioception::setArmJoints	(	const yarp::sig::Vector &	q,
		const yarp::sig::Vector &	analogs,
		const yarp::sig::Matrix &	analog_bounds
	)

protected

◆ setiCubParams()

bool VisualProprioception::setiCubParams ( )

protected

Definition at line 477 of file VisualProprioception.cpp.

References analogs_, cam_o_, cam_sel_, cam_x_, icub_arm_, icub_kin_eye_, icub_kin_finger_, itf_right_hand_analog_, readRootToEye(), readRootToFingers(), right_hand_analogs_bounds_, and setArmJoints().

Referenced by setProperty().

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◆ setProperty()

bool VisualProprioception::setProperty ( const std::string property )

override

Definition at line 463 of file VisualProprioception.cpp.

References closeAnalogs(), openAnalogs(), and setiCubParams().

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Member Data Documentation

◆ analogs_

bool VisualProprioception::analogs_ = false

protected

Definition at line 80 of file VisualProprioception.h.

Referenced by closeAnalogs(), openAnalogs(), and setiCubParams().

◆ cad_obj_

SICAD::ModelPathContainer VisualProprioception::cad_obj_

protected

Definition at line 109 of file VisualProprioception.h.

Referenced by operator=().

◆ cam_cx_

float VisualProprioception::cam_cx_

protected

Definition at line 102 of file VisualProprioception.h.

Referenced by getCamCx().

◆ cam_cy_

float VisualProprioception::cam_cy_

protected

Definition at line 104 of file VisualProprioception.h.

Referenced by getCamCy().

◆ cam_fx_

float VisualProprioception::cam_fx_

protected

Definition at line 101 of file VisualProprioception.h.

Referenced by getCamFx().

◆ cam_fy_

float VisualProprioception::cam_fy_

protected

Definition at line 103 of file VisualProprioception.h.

Referenced by getCamFy().

◆ cam_height_

unsigned int VisualProprioception::cam_height_

protected

Definition at line 100 of file VisualProprioception.h.

Referenced by getCamHeight().

◆ cam_o_

double VisualProprioception::cam_o_[4]

protected

Definition at line 98 of file VisualProprioception.h.

Referenced by observe(), operator=(), setiCubParams(), and VisualProprioception().

◆ cam_sel_

yarp::os::ConstString VisualProprioception::cam_sel_

protected

Definition at line 96 of file VisualProprioception.h.

Referenced by openAnalogs(), openGazeController(), and setiCubParams().

◆ cam_width_

unsigned int VisualProprioception::cam_width_

protected

Definition at line 99 of file VisualProprioception.h.

Referenced by getCamWidth().

◆ cam_x_

double VisualProprioception::cam_x_[3]

protected

Definition at line 97 of file VisualProprioception.h.

Referenced by observe(), operator=(), setiCubParams(), and VisualProprioception().

◆ drv_gaze_

yarp::dev::PolyDriver VisualProprioception::drv_gaze_

protected

Definition at line 62 of file VisualProprioception.h.

Referenced by openGazeController().

◆ drv_right_hand_analog_

yarp::dev::PolyDriver VisualProprioception::drv_right_hand_analog_

protected

Definition at line 70 of file VisualProprioception.h.

Referenced by closeAnalogs(), and openAnalogs().

◆ icub_arm_

iCub::iKin::iCubArm VisualProprioception::icub_arm_

protected

Definition at line 64 of file VisualProprioception.h.

Referenced by getModelPose(), operator=(), setiCubParams(), and VisualProprioception().

◆ icub_kin_eye_

iCub::iKin::iCubEye VisualProprioception::icub_kin_eye_

protected

Definition at line 66 of file VisualProprioception.h.

Referenced by setiCubParams().

◆ icub_kin_finger_

iCub::iKin::iCubFinger VisualProprioception::icub_kin_finger_[3]

protected

Definition at line 65 of file VisualProprioception.h.

Referenced by getModelPose(), operator=(), setiCubParams(), and VisualProprioception().

◆ itf_gaze_

yarp::dev::IGazeControl* VisualProprioception::itf_gaze_

protected

Definition at line 63 of file VisualProprioception.h.

Referenced by openGazeController().

◆ itf_right_hand_analog_

yarp::dev::IAnalogSensor* VisualProprioception::itf_right_hand_analog_

protected

Definition at line 71 of file VisualProprioception.h.

Referenced by openAnalogs(), and setiCubParams().

◆ laterality_

yarp::os::ConstString VisualProprioception::laterality_

protected

Definition at line 61 of file VisualProprioception.h.

Referenced by openAnalogs().

◆ log_ID_

yarp::os::ConstString VisualProprioception::log_ID_ = "[VisualProprioception]"

protected

Definition at line 58 of file VisualProprioception.h.

Referenced by file_found(), openAnalogs(), and openGazeController().

◆ ogl_tiles_cols_

int VisualProprioception::ogl_tiles_cols_

protected

Definition at line 112 of file VisualProprioception.h.

◆ ogl_tiles_rows_

int VisualProprioception::ogl_tiles_rows_

protected

Definition at line 111 of file VisualProprioception.h.

◆ port_arm_enc_

yarp::os::BufferedPort<yarp::os::Bottle> VisualProprioception::port_arm_enc_

protected

Definition at line 69 of file VisualProprioception.h.

Referenced by readRootToFingers().

◆ port_head_enc_

yarp::os::BufferedPort<yarp::os::Bottle> VisualProprioception::port_head_enc_

protected

Definition at line 67 of file VisualProprioception.h.

Referenced by readRootToEye().

◆ port_torso_enc_

yarp::os::BufferedPort<yarp::os::Bottle> VisualProprioception::port_torso_enc_

protected

Definition at line 68 of file VisualProprioception.h.

Referenced by readTorso().

◆ resolution_ratio_

double VisualProprioception::resolution_ratio_

protected

Definition at line 105 of file VisualProprioception.h.

◆ right_hand_analogs_bounds_

yarp::sig::Matrix VisualProprioception::right_hand_analogs_bounds_

protected

Definition at line 72 of file VisualProprioception.h.

Referenced by setiCubParams().

◆ si_cad_

SICAD* VisualProprioception::si_cad_

protected

Definition at line 110 of file VisualProprioception.h.

Referenced by getOGLTilesCols(), getOGLTilesNumber(), getOGLTilesRows(), observe(), and operator=().

◆ use_forearm_

bool VisualProprioception::use_forearm_

protected

Definition at line 108 of file VisualProprioception.h.

Referenced by getModelPose().

◆ use_thumb_

bool VisualProprioception::use_thumb_

protected

Definition at line 107 of file VisualProprioception.h.

Referenced by getModelPose().

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

/Users/Claudio/GitHub/visual-tracking-control/src/hand-tracking/include/VisualProprioception.h
/Users/Claudio/GitHub/visual-tracking-control/src/hand-tracking/src/VisualProprioception.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VisualProprioception() [1/3]

◆ VisualProprioception() [2/3]

◆ VisualProprioception() [3/3]

◆ ~VisualProprioception()

Member Function Documentation

◆ closeAnalogs()

◆ file_found()

◆ getCamCx()

◆ getCamCy()

◆ getCamFx()

◆ getCamFy()

◆ getCamHeight()

◆ getCamWidth()

◆ getInvertedH()

◆ getModelPose()

◆ getOGLTilesCols()

◆ getOGLTilesNumber()

◆ getOGLTilesRows()

◆ observe()

◆ openAnalogs()

◆ openGazeController()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ readArmEncoders()

◆ readRootToEye()

◆ readRootToFingers()

◆ readTorso()

◆ setArmJoints() [1/2]

◆ setArmJoints() [2/2]

◆ setiCubParams()

◆ setProperty()

Member Data Documentation

◆ analogs_

◆ cad_obj_

◆ cam_cx_

◆ cam_cy_

◆ cam_fx_

◆ cam_fy_

◆ cam_height_

◆ cam_o_

◆ cam_sel_

◆ cam_width_

◆ cam_x_

◆ drv_gaze_

◆ drv_right_hand_analog_

◆ icub_arm_

◆ icub_kin_eye_

◆ icub_kin_finger_

◆ itf_gaze_

◆ itf_right_hand_analog_

◆ laterality_

◆ log_ID_

◆ ogl_tiles_cols_

◆ ogl_tiles_rows_

◆ port_arm_enc_

◆ port_head_enc_

◆ port_torso_enc_

◆ resolution_ratio_

◆ right_hand_analogs_bounds_

◆ si_cad_

◆ use_forearm_

◆ use_thumb_