HeadToBodyCenteredRef.h

00001 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
00002 /* 
00003  * Copyright (C) 2008 
00004  * RobotCub Consortium, European Commission FP6 Project IST-004370
00005  * email:   micha.hersch@robotcub.org
00006  * website: www.robotcub.org
00007  * Permission is granted to copy, distribute, and/or modify this program
00008  * under the terms of the GNU General Public License, version 2 or any
00009  * later version published by the Free Software Foundation.
00010  *
00011  * A copy of the license can be found at
00012  * http://www.robotcub.org/icub/license/gpl.txt
00013  *
00014  * This program is distributed in the hope that it will be useful, but
00015  * WITHOUT ANY WARRANTY; without even the implied warranty of
00016  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
00017  * Public License for more details
00018  */
00019 
00020 
00127 #ifndef __HEAD_TO_BODY_CENTERED_REF_H__
00128 #define __HEAD_TO_BODY_CENTERED_REF_H__
00129 
00130 #include "KinematicTree.h"
00131 #include "KChainOrientationBodySchema.h"
00132 #include "SpecializedPort.h"
00133 #include "yarp/os/all.h"
00134 
00135 
00136 class HeadToBodyCenteredRef:public Module{
00137 
00138  protected:
00139 
00140   KinematicTree *body;
00141   KChainBodySchema *head;
00142  
00143   CartesianDataPort in;
00144   CartesianDataPort out;
00145   JointAngleDataPort headProprio;
00146   BodySchemaDataPort bodyPort;
00147   CommandPort cmdPort;
00148 
00149 
00150   joint_vec_t proprio;
00151   cart_vec_t visionPosBody;
00152   cart_vec_t visionPosHead;
00153 
00154   float *bodydata;         
00155   int body_data_size;      
00157  public:
00158   HeadToBodyCenteredRef();
00159   virtual   ~HeadToBodyCenteredRef(){};
00160   virtual bool open(Searchable& config);
00161   virtual bool close();
00162   virtual bool updateModule();
00163 };
00164 #endif
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