A class that provides the user with a suitable framework to deal with the elastic approach for the problem of detecting contacts of fingers with external forces. More...
#include <springyFingers.h>
Inheritance diagram for iCub::perception::SpringyFingersModel:
Public Member Functions | |
| SpringyFingersModel () | |
| Constructor. More... | |
| bool | fromProperty (const yarp::os::Property &options) |
| Configure the model taking its parameters from a Property object. More... | |
| void | toProperty (yarp::os::Property &options) const |
| Return a Property representation of all the model parameters. More... | |
| bool | toStream (std::ostream &str) const |
| Similar to the toProperty() method but it operates on output streams (e.g. More... | |
| bool | calibrate (const yarp::os::Property &options) |
| Execute the fingers calibration. More... | |
| bool | isCalibrated () const |
| Return the internal status of the calibration. More... | |
| bool | getOutput (yarp::os::Value &out) const |
| Retrieve the complete output of the model. More... | |
| virtual | ~SpringyFingersModel () |
| Destructor. More... | |
| Public Member Functions inherited from iCub::perception::Model | |
| Model () | |
| Constructor. More... | |
| std::string | getName () const |
| Retrieve the model name. More... | |
| void | attachNode (Node &node) |
| Attach a node object to the model. More... | |
| Node * | getNode (const std::string &name) const |
| Retrieve an attached node by its name. More... | |
| virtual | ~Model () |
| Destructor. More... | |
Friends | |
| class | CalibThread |
Additional Inherited Members | |
| Protected Member Functions inherited from iCub::perception::Model | |
| virtual void | printMessage (const int logtype, const int level, const char *format,...) const |
| Protected Attributes inherited from iCub::perception::Model | |
| std::string | name |
| int | verbosity |
| std::map< std::string, Node * > | nodes |
Detailed Description
A class that provides the user with a suitable framework to deal with the elastic approach for the problem of detecting contacts of fingers with external forces.
Definition at line 204 of file springyFingers.h.
Constructor & Destructor Documentation
◆ SpringyFingersModel()
| SpringyFingersModel::SpringyFingersModel | ( | ) |
Constructor.
Definition at line 261 of file springyFingers.cpp.
◆ ~SpringyFingersModel()
|
virtual |
Destructor.
Definition at line 835 of file springyFingers.cpp.
Member Function Documentation
◆ calibrate()
|
virtual |
Execute the fingers calibration.
- Parameters
-
options a Property containing the calibration parameters. Available options are:
finger: a string that encodes the finger to calibrate; it can be "thumb", "index", "middle", "ring", "little", "all", "all_serial", "all_parallel". The special tags "all" and "all_serial" serve to calibrate all the fingers consecutively, whereas the tag "all_parallel" allows calibrating all the fingers at the same time. Moreover, if a list is provided in place of a string - e.g. ("thumb" "little" "middle") - then the specified fingers are calibrated in parallel.
- Returns
- true/false on success/failure.
Implements iCub::perception::Model.
Definition at line 505 of file springyFingers.cpp.
◆ fromProperty()
|
virtual |
Configure the model taking its parameters from a Property object.
- Parameters
-
options a Property containing the configuration parameters. Available options are:
name: the name of the model.
type: the handedness type; it can be either "left" or "right".
robot: the name of the robot to connect to; e.g. "icub" or "icubSim".
carrier: the protocol used to connect yarp streaming ports; e.g. "udp", "mcast", "tcp".
verbosity: an integer that accounts for the verbosity level of model print-outs.
- Returns
- true/false on success/failure.
Implements iCub::perception::Model.
Definition at line 268 of file springyFingers.cpp.
◆ getOutput()
|
virtual |
Retrieve the complete output of the model.
- Parameters
-
out a Value containing the model output in the form: (thumb_out index_out ... little_out), where the finger_out is the output of the corresponding finger.
- Returns
- true/false on success/failure.
Implements iCub::perception::Model.
Definition at line 695 of file springyFingers.cpp.
◆ isCalibrated()
|
virtual |
Return the internal status of the calibration.
- Returns
- true/false on calibrated/uncalibrated-failure.
Implements iCub::perception::Model.
Definition at line 807 of file springyFingers.cpp.
◆ toProperty()
|
virtual |
Return a Property representation of all the model parameters.
- Parameters
-
options a Property filled with the configuration parameters.
Implements iCub::perception::Model.
Definition at line 425 of file springyFingers.cpp.
◆ toStream()
|
virtual |
Similar to the toProperty() method but it operates on output streams (e.g.
string, ofstream, ...). It allows to better manage the storing of the configuration over files.
- Parameters
-
str the reference to the output stream.
- Returns
- true/false on success/failure.
- See also
- toProperty
Implements iCub::perception::Model.
Definition at line 468 of file springyFingers.cpp.
Friends And Related Function Documentation
◆ CalibThread
|
friend |
Definition at line 256 of file springyFingers.h.
The documentation for this class was generated from the following files:
- icub-main/src/libraries/perceptiveModels/include/iCub/perception/springyFingers.h
- icub-main/src/libraries/perceptiveModels/src/springyFingers.cpp
