Device interface to one or more groups (patches) of tactile sensors (skin). More...

Inheritance diagram for yarp::dev::ISkinPatches:

Public Member Functions
virtual size_t	getNrOfSkinPatches () const =0
	Get the number of skin patches exposed by this device.

virtual yarp::dev::MAS_status	getSkinPatchStatus (size_t sens_index) const =0
	Get the status of the specified sensor.

virtual bool	getSkinPatchName (size_t sens_index, std::string &name) const =0
	Get the name of the specified sensor.

virtual bool	getSkinPatchMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const =0
	Get the last reading of the specified sensor.

virtual size_t	getSkinPatchSize (size_t sens_index) const =0
	Get the size of the specified skin patch.

virtual	~ISkinPatches ()

Detailed Description

Device interface to one or more groups (patches) of tactile sensors (skin).

Sensor Tag
`SkinPatches`

Device interface to one or multiple patches of tacticle sensors.

Constructor & Destructor Documentation

virtual yarp::dev::ISkinPatches::~ISkinPatches ( )

inlinevirtual

virtual size_t yarp::dev::ISkinPatches::getNrOfSkinPatches ( ) const

pure virtual

Get the number of skin patches exposed by this device.

virtual bool yarp::dev::ISkinPatches::getSkinPatchMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

pure virtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfSkinPatches()-1).
[out]	out	The requested measure. The vector should be getSkinPatchSize(sens_index)-dimensional. The measure is expressed in implementation-specific unit of measure.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.