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iCub::skinManager::CompensationThread Class Reference

#include <compensationThread.h>

+ Inheritance diagram for iCub::skinManager::CompensationThread:

Public Types

enum  CompensationThreadState {
  calibration ,
  compensation
}
 

Public Member Functions

 CompensationThread (string name, ResourceFinder *rf, string robotName, double _compensationGain, double _contactCompensationGain, int addThreshold, float minBaseline, bool zeroUpRawData, int period, bool binarization, bool smoothFilter, float smoothFactor)
 
bool threadInit ()
 
void threadRelease ()
 
void run ()
 
void calibrate ()
 
void setBinarization (bool value)
 
void setSmoothFilter (bool value)
 
bool setSmoothFactor (float value)
 
bool setAddThreshold (unsigned int thr)
 
bool setCompensationGain (double gain)
 
bool setContactCompensationGain (double gain)
 
bool setMaxNeighborDistance (double dist)
 
bool setTaxelPosition (SkinPart sp, unsigned int taxelId, const Vector &position)
 
bool setTaxelPositions (SkinPart sp, const Vector &positions)
 
bool setTaxelOrientation (SkinPart sp, unsigned int taxelId, const Vector &orientation)
 
bool setTaxelOrientations (SkinPart sp, const vector< Vector > &orientations)
 
bool setTaxelPose (SkinPart sp, unsigned int taxelId, const Vector &pose)
 
bool setTaxelPoses (SkinPart sp, const vector< Vector > &poses)
 
bool setTaxelPoses (SkinPart sp, const Vector &poses)
 
Vector getTouchThreshold ()
 
bool getBinarization ()
 
bool getSmoothFilter ()
 
float getSmoothFactor ()
 
unsigned int getAddThreshold ()
 
double getCompensationGain ()
 
double getContactCompensationGain ()
 
double getMaxNeighborDistance ()
 
bool isCalibrating ()
 
Vector getTaxelPosition (SkinPart sp, unsigned int taxelId)
 
vector< Vector > getTaxelPositions (SkinPart sp=SKIN_PART_ALL)
 
Vector getTaxelOrientation (SkinPart sp, unsigned int taxelId)
 
vector< Vector > getTaxelOrientations (SkinPart sp=SKIN_PART_ALL)
 
Vector getTaxelPose (SkinPart sp, unsigned int taxelId)
 
vector< Vector > getTaxelPoses (SkinPart sp=SKIN_PART_ALL)
 
double getPoseConfidence (SkinPart sp, unsigned int taxelId)
 
Vector getPoseConfidences (SkinPart sp)
 
bool enableSkinPart (SkinPart sp)
 
bool disableSkinPart (SkinPart sp)
 
bool isSkinEnabled (SkinPart sp)
 
vector< SkinPartgetSkinParts ()
 
Bottle getInfo ()
 

Detailed Description

Definition at line 49 of file compensationThread.h.

Member Enumeration Documentation

◆ CompensationThreadState

Enumerator
calibration 
compensation 

Definition at line 52 of file compensationThread.h.

Constructor & Destructor Documentation

◆ CompensationThread()

CompensationThread::CompensationThread ( string  name,
ResourceFinder *  rf,
string  robotName,
double  _compensationGain,
double  _contactCompensationGain,
int  addThreshold,
float  minBaseline,
bool  zeroUpRawData,
int  period,
bool  binarization,
bool  smoothFilter,
float  smoothFactor 
)

Definition at line 34 of file compensationThread.cpp.

Member Function Documentation

◆ calibrate()

void CompensationThread::calibrate ( )

Definition at line 197 of file compensationThread.cpp.

◆ disableSkinPart()

bool CompensationThread::disableSkinPart ( SkinPart  sp)

Definition at line 694 of file compensationThread.cpp.

◆ enableSkinPart()

bool CompensationThread::enableSkinPart ( SkinPart  sp)

Definition at line 686 of file compensationThread.cpp.

◆ getAddThreshold()

unsigned int CompensationThread::getAddThreshold ( )

Definition at line 566 of file compensationThread.cpp.

◆ getBinarization()

bool CompensationThread::getBinarization ( )

Definition at line 575 of file compensationThread.cpp.

◆ getCompensationGain()

double CompensationThread::getCompensationGain ( )

Definition at line 569 of file compensationThread.cpp.

◆ getContactCompensationGain()

double CompensationThread::getContactCompensationGain ( )

Definition at line 572 of file compensationThread.cpp.

◆ getInfo()

Bottle CompensationThread::getInfo ( )

Definition at line 386 of file compensationThread.cpp.

◆ getMaxNeighborDistance()

double iCub::skinManager::CompensationThread::getMaxNeighborDistance ( )
inline

Definition at line 85 of file compensationThread.h.

◆ getPoseConfidence()

double CompensationThread::getPoseConfidence ( SkinPart  sp,
unsigned int  taxelId 
)

Definition at line 662 of file compensationThread.cpp.

◆ getPoseConfidences()

Vector CompensationThread::getPoseConfidences ( SkinPart  sp)

Definition at line 671 of file compensationThread.cpp.

◆ getSkinParts()

vector< SkinPart > CompensationThread::getSkinParts ( )

Definition at line 680 of file compensationThread.cpp.

◆ getSmoothFactor()

float CompensationThread::getSmoothFactor ( )

Definition at line 586 of file compensationThread.cpp.

◆ getSmoothFilter()

bool CompensationThread::getSmoothFilter ( )

Definition at line 578 of file compensationThread.cpp.

◆ getTaxelOrientation()

Vector CompensationThread::getTaxelOrientation ( SkinPart  sp,
unsigned int  taxelId 
)

Definition at line 613 of file compensationThread.cpp.

◆ getTaxelOrientations()

vector< Vector > CompensationThread::getTaxelOrientations ( SkinPart  sp = SKIN_PART_ALL)

Definition at line 621 of file compensationThread.cpp.

◆ getTaxelPose()

Vector CompensationThread::getTaxelPose ( SkinPart  sp,
unsigned int  taxelId 
)

Definition at line 637 of file compensationThread.cpp.

◆ getTaxelPoses()

vector< Vector > CompensationThread::getTaxelPoses ( SkinPart  sp = SKIN_PART_ALL)

Definition at line 645 of file compensationThread.cpp.

◆ getTaxelPosition()

Vector CompensationThread::getTaxelPosition ( SkinPart  sp,
unsigned int  taxelId 
)

Definition at line 589 of file compensationThread.cpp.

◆ getTaxelPositions()

vector< Vector > CompensationThread::getTaxelPositions ( SkinPart  sp = SKIN_PART_ALL)

Definition at line 597 of file compensationThread.cpp.

◆ getTouchThreshold()

Vector CompensationThread::getTouchThreshold ( )

Definition at line 553 of file compensationThread.cpp.

◆ isCalibrating()

bool CompensationThread::isCalibrating ( )

Definition at line 581 of file compensationThread.cpp.

◆ isSkinEnabled()

bool CompensationThread::isSkinEnabled ( SkinPart  sp)

Definition at line 702 of file compensationThread.cpp.

◆ run()

void CompensationThread::run ( void  )

Definition at line 205 of file compensationThread.cpp.

◆ setAddThreshold()

bool CompensationThread::setAddThreshold ( unsigned int  thr)

Definition at line 436 of file compensationThread.cpp.

◆ setBinarization()

void CompensationThread::setBinarization ( bool  value)

Definition at line 410 of file compensationThread.cpp.

◆ setCompensationGain()

bool CompensationThread::setCompensationGain ( double  gain)

Definition at line 446 of file compensationThread.cpp.

◆ setContactCompensationGain()

bool CompensationThread::setContactCompensationGain ( double  gain)

Definition at line 456 of file compensationThread.cpp.

◆ setMaxNeighborDistance()

bool CompensationThread::setMaxNeighborDistance ( double  dist)

Definition at line 465 of file compensationThread.cpp.

◆ setSmoothFactor()

bool CompensationThread::setSmoothFactor ( float  value)

Definition at line 425 of file compensationThread.cpp.

◆ setSmoothFilter()

void CompensationThread::setSmoothFilter ( bool  value)

Definition at line 416 of file compensationThread.cpp.

◆ setTaxelOrientation()

bool CompensationThread::setTaxelOrientation ( SkinPart  sp,
unsigned int  taxelId,
const Vector &  orientation 
)

Definition at line 490 of file compensationThread.cpp.

◆ setTaxelOrientations()

bool CompensationThread::setTaxelOrientations ( SkinPart  sp,
const vector< Vector > &  orientations 
)

Definition at line 498 of file compensationThread.cpp.

◆ setTaxelPose()

bool CompensationThread::setTaxelPose ( SkinPart  sp,
unsigned int  taxelId,
const Vector &  pose 
)

Definition at line 506 of file compensationThread.cpp.

◆ setTaxelPoses() [1/2]

bool CompensationThread::setTaxelPoses ( SkinPart  sp,
const Vector &  poses 
)

Definition at line 522 of file compensationThread.cpp.

◆ setTaxelPoses() [2/2]

bool CompensationThread::setTaxelPoses ( SkinPart  sp,
const vector< Vector > &  poses 
)

Definition at line 514 of file compensationThread.cpp.

◆ setTaxelPosition()

bool CompensationThread::setTaxelPosition ( SkinPart  sp,
unsigned int  taxelId,
const Vector &  position 
)

Definition at line 474 of file compensationThread.cpp.

◆ setTaxelPositions()

bool CompensationThread::setTaxelPositions ( SkinPart  sp,
const Vector &  positions 
)

Definition at line 482 of file compensationThread.cpp.

◆ threadInit()

bool CompensationThread::threadInit ( )

Definition at line 49 of file compensationThread.cpp.

◆ threadRelease()

void CompensationThread::threadRelease ( )

Definition at line 318 of file compensationThread.cpp.


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