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Classes | Enumerations | Functions | Variables
iCub::skinDynLib Namespace Reference

Classes

class  dynContact
 Class representing an external contact acting on a link of the robot body. More...
 
class  dynContactList
 Class representing a list of external contacts. More...
 
class  iCubSkin
 Class that collects a set of skinParts. More...
 
struct  Skin_2_Body
 
struct  Skin_2_Link
 
class  skinContact
 Class representing an external contact acting on the iCub' skin. More...
 
class  skinContactList
 Class representing a list of external contacts acting on the iCub' skin. More...
 
class  skinPart
 Class that encloses everything relate to a skinPart. More...
 
class  skinPartBase
 
class  Taxel
 Class that encloses everything relate to a Taxel, i.e. More...
 

Enumerations

enum  VerbosityLevel {
  NO_VERBOSE,
  VERBOSE,
  MORE_VERBOSE
}
 
enum  BodyPart {
  BODY_PART_UNKNOWN =0,
  TORSO,
  HEAD,
  LEFT_ARM,
  RIGHT_ARM,
  LEFT_LEG,
  RIGHT_LEG,
  BODY_PART_ALL,
  LOWER_BODY_PARTS,
  UPPER_BODY_PARTS,
  BODY_PART_SIZE
}
 
enum  SkinPart {
  SKIN_PART_UNKNOWN =0,
  SKIN_LEFT_HAND,
  SKIN_LEFT_FOREARM,
  SKIN_LEFT_UPPER_ARM,
  SKIN_RIGHT_HAND,
  SKIN_RIGHT_FOREARM,
  SKIN_RIGHT_UPPER_ARM,
  SKIN_FRONT_TORSO,
  LEFT_LEG_UPPER,
  LEFT_LEG_LOWER,
  LEFT_FOOT,
  RIGHT_LEG_UPPER,
  RIGHT_LEG_LOWER,
  RIGHT_FOOT,
  SKIN_PART_ALL,
  SKIN_PART_SIZE
}
 
enum  HandPart {
  INDEX,
  MIDDLE,
  RING,
  LITTLE,
  THUMB,
  PALM,
  ALL_HAND_PARTS,
  HAND_PART_SIZE
}
 

Functions

BodyPart getBodyPart (SkinPart s)
 Get the body part associated to the specified skin part. More...
 
std::vector< SkinPartgetSkinParts (BodyPart b)
 Get the list of skin parts associated to the specified body part. More...
 
int getLinkNum (SkinPart s)
 Get the link number associated to the specified skin part. More...
 
SkinPart getSkinPartFromString (const std::string skinPartString)
 Get the SkinPart enum from the string version - essentially the opposite of SkinPart_s[]. More...
 
yarp::sig::Vector toVector (yarp::sig::Matrix m)
 Converts a yarp::sig::Matrix to a yarp::sig::Vector. More...
 
yarp::sig::Vector vectorFromBottle (const yarp::os::Bottle b, int in, const int size)
 Retrieves a vector from a bottle. More...
 
void vectorIntoBottle (const yarp::sig::Vector v, yarp::os::Bottle &b)
 Puts a Vector into a bottle, by cycling through its elements and adding them as doubles. More...
 
yarp::sig::Matrix matrixFromBottle (const yarp::os::Bottle b, int in, const int r, const int c)
 Retrieves a matrix from a bottle. More...
 
void matrixIntoBottle (const yarp::sig::Matrix m, yarp::os::Bottle &b)
 Puts a matrix into a bottle, by cycling through its elements and adding them as double. More...
 
std::list< unsigned int > vectorofIntEqualto (const std::vector< int > vec, const int val)
 Returns a list of indexes corresponding to the values of vec that are equal to val. More...
 

Variables

const std::string BodyPart_s []
 
const std::string SkinPart_s []
 
const Skin_2_Body SkinPart_2_BodyPart [SKIN_PART_SIZE]
 
const Skin_2_Link SkinPart_2_LinkNum [SKIN_PART_SIZE]
 
const std::string HandPart_s []
 
static const int ARM_FT_SENSOR_LINK_INDEX = 2
 
static const int LEG_FT_SENSOR_LINK_INDEX = 1
 
static const int ARM_DOF = 7
 
static const int TORSO_DOF = 3
 

Enumeration Type Documentation

◆ BodyPart

Enumerator
BODY_PART_UNKNOWN 
TORSO 
HEAD 
LEFT_ARM 
RIGHT_ARM 
LEFT_LEG 
RIGHT_LEG 
BODY_PART_ALL 
LOWER_BODY_PARTS 
UPPER_BODY_PARTS 
BODY_PART_SIZE 

Definition at line 44 of file common.h.

◆ HandPart

Enumerator
INDEX 
MIDDLE 
RING 
LITTLE 
THUMB 
PALM 
ALL_HAND_PARTS 
HAND_PART_SIZE 

Definition at line 155 of file common.h.

◆ SkinPart

Enumerator
SKIN_PART_UNKNOWN 
SKIN_LEFT_HAND 
SKIN_LEFT_FOREARM 
SKIN_LEFT_UPPER_ARM 
SKIN_RIGHT_HAND 
SKIN_RIGHT_FOREARM 
SKIN_RIGHT_UPPER_ARM 
SKIN_FRONT_TORSO 
LEFT_LEG_UPPER 
LEFT_LEG_LOWER 
LEFT_FOOT 
RIGHT_LEG_UPPER 
RIGHT_LEG_LOWER 
RIGHT_FOOT 
SKIN_PART_ALL 
SKIN_PART_SIZE 

Definition at line 56 of file common.h.

◆ VerbosityLevel

Enumerator
NO_VERBOSE 
VERBOSE 
MORE_VERBOSE 

Definition at line 38 of file common.h.

Function Documentation

◆ matrixFromBottle()

yarp::sig::Matrix iCub::skinDynLib::matrixFromBottle ( const yarp::os::Bottle  b,
int  in,
const int  r,
const int  c 
)

Retrieves a matrix from a bottle.

Parameters
bthe bottle
inthe start index
rthe number of rows of the matrix
cthe number of cols of the matrix #return the matrix extracted from the bottle

Definition at line 109 of file common.cpp.

◆ matrixIntoBottle()

void iCub::skinDynLib::matrixIntoBottle ( const yarp::sig::Matrix  m,
yarp::os::Bottle &  b 
)

Puts a matrix into a bottle, by cycling through its elements and adding them as double.

Parameters
mthe matrix to put into the bottle
bthe bottle to be filled with the vector

Definition at line 126 of file common.cpp.

◆ vectorIntoBottle()

void iCub::skinDynLib::vectorIntoBottle ( const yarp::sig::Vector  v,
yarp::os::Bottle &  b 
)

Puts a Vector into a bottle, by cycling through its elements and adding them as doubles.

Parameters
vthe vector to put into the bottle
bthe bottle to be filled with the vector

Definition at line 101 of file common.cpp.

Variable Documentation

◆ ARM_DOF

const int iCub::skinDynLib::ARM_DOF = 7
static

Definition at line 167 of file common.h.

◆ ARM_FT_SENSOR_LINK_INDEX

const int iCub::skinDynLib::ARM_FT_SENSOR_LINK_INDEX = 2
static

Definition at line 164 of file common.h.

◆ BodyPart_s

const std::string iCub::skinDynLib::BodyPart_s[]
Initial value:
= {
"unknown_body_part",
"torso", "head", "left_arm", "right_arm", "left_leg", "right_leg",
"all_body_parts", "lower_body_parts", "upper_body_parts", "body_part_size"
}

Definition at line 49 of file common.h.

◆ HandPart_s

const std::string iCub::skinDynLib::HandPart_s[]
Initial value:
= {
"index", "middle", "ring", "little", "thumb", "palm",
"all_hand_parts", "hand_part_size"
}

Definition at line 159 of file common.h.

◆ LEG_FT_SENSOR_LINK_INDEX

const int iCub::skinDynLib::LEG_FT_SENSOR_LINK_INDEX = 1
static

Definition at line 165 of file common.h.

◆ SkinPart_2_BodyPart

const Skin_2_Body iCub::skinDynLib::SkinPart_2_BodyPart[SKIN_PART_SIZE]

◆ SkinPart_2_LinkNum

const Skin_2_Link iCub::skinDynLib::SkinPart_2_LinkNum[SKIN_PART_SIZE]

◆ SkinPart_s

const std::string iCub::skinDynLib::SkinPart_s[]
Initial value:
= {
"unknown",
"l_hand", "l_forearm", "l_upper_arm",
"r_hand", "r_forearm", "r_upper_arm",
"chest",
"l_upper_leg", "l_lower_leg", "l_foot",
"r_upper_leg", "r_lower_leg", "r_foot",
"all_skin_parts", "skin_part_size"
}

Definition at line 64 of file common.h.

◆ TORSO_DOF

const int iCub::skinDynLib::TORSO_DOF = 3
static

Definition at line 168 of file common.h.