Module dependencies

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List of dependencies between module and the resources they access

Back to iCub YARP module specifications



Ports Accessed

/icub/arm/left/command:i           iCubInterface
                                   reaching

/icub/arm/left/rpc:i               iCubInterface
                                   armMover

/icub/arm/left/state:o             iCubInterface
                                   reaching

/icub/arm/right/command:i          iCubInterface
                                   reaching

/icub/arm/right/state:o            iCubInterface
                                   reaching

/icub/head/command:i               iCubInterface
                                   headTracker

/icub/head/rpc:i                   iCubInterface
/icub/head/state:o                 iCubInterface

/armMover/inhibition/o             armMover
/armMover/data/o                   armMover
/armMover/arm/o                    armMover
 
/handlocalization/left/o           headTracker
/handlocalization/right/o          headTracker
  
/headtracker/left/i                headTracker
/headtracker/right/i               headTracker
/headtracker/head/o                headTracker
/headtracker/inhibition/i          headTracker
                                   armMover
/headtracker/fixation/o            headTracker
                                   armMover
                                   reaching

/reaching/fixation/i               reaching
/reaching/arm/i                    reaching
/reaching/arm/o                    reaching

/camcalib/image                    camCalib

/chica/attentionselection          attentionSelection
/chica/egosphere/ego/map           attentionSelection

/salience/view                     salience
/salience/conf                     salience
/salience/map                      salience

/chica/egosphere/conf              controlGaze
/chica/control_gaze                controlGaze

/icub/tracker/img                  tracker
/icub/tracker/pos                  tracker 
/icub/tracker/enc                  tracker 

/learner/i:vec                     learner
/learner/i:bot                     learner
/learner/o:vec                     learner

/dsreaching/target                 dsreaching
/dsreaching/angles                 dsreaching


Libraries

rfwr in ICUB                       reaching
                                   reachingLearner

OpenCV                             camCalib
                                   egosphere
                                   salience
                                   histogramTracker 

spmap (iCub libary)                camCalib
                                   egosphere

kinematics (iCub library)          egosphere
                                   controlGaze

egospherelib                       controlGaze

GSL                                egosphere
                                   gaitControl

STL                                salience
                                   learner
                                   tracker

fastfilt (iCub library)            salience

gtkmm                              fggui
Qt                                 qControlBoardGui
Qt                                 qSalienceGui

Includes

Excluding Yarp and ace libraries

iCub/CamCalibConfModule.h           camCalibConf

iCub/EgoSphereModule.h              egosphere
iCubSphereProjector.h               egosphere
iCub/RemoteEgoSphere.h              egosphere
iCub/EgoSphereInterfaces.h          egosphere

iCub/SalienceModule.h>              salience
iCub/Salience.h>                    salience
iCub/XYSalience.h>                  salience
iCub/RemoteSalience.h>              salience

cv.h                                histogramTracker
_cv.h                               histogramTracker

Reaching.h                          dsreaching
mathlib.h                           dsreaching


Capabilities

C1   

C3   Learn to reach towards a fixation point                                         armMover
                                                                                     headTracker
                                                                                     reaching
                                                                                     reachingLearner
                                                                                     handLocalization
                                                                                     dsreaching
                                                                                     egosphere
                                                                                     salience

C4   Attention and action selection by modulation of capabilities                    attentionSelection

C5   Conditioning of modulation based on anticipation / prospection                  attentionSelection

C6   Construct sensorimotor maps & cross-modal maps                                  egosphere
                                                                                     salience

C7   Learning by demonstration (crawling and constrained reaching)                   handLocalization

C8   Exploratory, curiousity-driven, action                                          egosphere
                                                                                     salience
                                                                                     attentionSelection
                                                                                     handLocalization

C8   Exploratory, curiousity-driven, action                                          attentionSelection

C9   Experience-based action selection based on interaction histories                attentionSelection   
  
C10  Crawl and navigate based on local landmarks and ego-centric representations     egosphere
                                                                                     salience

C11  Saccadic direction of gaze towards salient events (visual, auditory, tactile)   egosphere
                                                                                     salience

C12  Focus attention and direct gaze on human faces (features, movements, sounds)    attentionSelection
                                                                                     egosphere
                                                                                     salience
 
C14  Move the hand(s) towards the centre of the visual field                         handLocalization

C25  Gaze control: smooth pursuit (with prediction); possibly tuned by learning      tracker

C30: ability to localize the hand; innate or acquired (probably the latter)          handLocalization



Back to iCub YARP module specifications