robotology · pattacini · Dec 19, 2023 · Dec 18, 2023
diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/DatasetRecorder.h b/src/libraries/learningMachine/include/iCub/learningMachine/DatasetRecorder.h
@@ -143,7 +143,7 @@ class DatasetRecorder : public IMachineLearner {
     virtual void readBottle(yarp::os::Bottle& bot);
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IMachineLearner.
      */
     virtual bool configure(yarp::os::Searchable& config);
 };

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/FixedRangeScaler.h b/src/libraries/learningMachine/include/iCub/learningMachine/FixedRangeScaler.h
@@ -91,7 +91,7 @@ class FixedRangeScaler : public IScaler {
     virtual std::string getInfo();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IScaler.
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/IFixedSizeLearner.h b/src/libraries/learningMachine/include/iCub/learningMachine/IFixedSizeLearner.h
@@ -146,7 +146,7 @@ class IFixedSizeLearner : public IMachineLearner {
     virtual std::string getConfigHelp();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IMachineLearner.
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/IFixedSizeTransformer.h b/src/libraries/learningMachine/include/iCub/learningMachine/IFixedSizeTransformer.h
@@ -148,7 +148,7 @@ class IFixedSizeTransformer : public ITransformer {
     virtual std::string getConfigHelp();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from ITransformer.
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/IMachineLearner.h b/src/libraries/learningMachine/include/iCub/learningMachine/IMachineLearner.h
@@ -23,7 +23,6 @@
 #include <sstream>
 
 #include <yarp/sig/Vector.h>
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Portable.h>
 #include <yarp/os/Bottle.h>
 #include <yarp/os/Value.h>
@@ -86,7 +85,7 @@ namespace learningmachine {
  *
  */
 
-class IMachineLearner : public yarp::os::IConfig, public yarp::os::Portable {
+class IMachineLearner : public yarp::os::Portable {
 protected:
     /**
      * The name of this type of machine learner.
@@ -122,6 +121,22 @@ class IMachineLearner : public yarp::os::IConfig, public yarp::os::Portable {
      */
     virtual ~IMachineLearner() { }
 
+
+    /**
+     * Initialize the object.
+     */
+    virtual bool open(yarp::os::Searchable& config) {return true;}
+
+    /**
+     * Shut the object down.
+     */
+    virtual bool close() {return true;}
+
+    /**
+     * Change parameters.
+     */
+    virtual bool configure(yarp::os::Searchable& config) {return false;}
+
     /**
      * Provide the learning machine with an example of the desired mapping.
      *

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/IScaler.h b/src/libraries/learningMachine/include/iCub/learningMachine/IScaler.h
@@ -21,7 +21,7 @@
 
 #include <string>
 
-#include <yarp/os/IConfig.h>
+#include <yarp/os/Bottle.h>
 
 namespace iCub {
 namespace learningmachine {
@@ -38,7 +38,7 @@ namespace learningmachine {
  *
  */
 
-class IScaler : public yarp::os::IConfig {
+class IScaler {
 protected:
     /**
      * The offset for the linear transformation.
@@ -175,7 +175,7 @@ class IScaler : public yarp::os::IConfig {
     virtual bool fromString(const std::string& str);
 
     /*
-     * Inherited from IConfig.
+     * Configure.
      */
     virtual bool configure(yarp::os::Searchable& config);
 };

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/ITransformer.h b/src/libraries/learningMachine/include/iCub/learningMachine/ITransformer.h
@@ -22,7 +22,6 @@
 #include <sstream>
 #include <string>
 
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Portable.h>
 #include <yarp/os/Bottle.h>
 #include <yarp/sig/Vector.h>
@@ -55,7 +54,7 @@ namespace learningmachine {
  *
  */
 
-class ITransformer : public yarp::os::IConfig, public yarp::os::Portable {
+class ITransformer : public yarp::os::Portable {
 protected:
     /**
      * The name of this type of transformer.
@@ -164,7 +163,7 @@ class ITransformer : public yarp::os::IConfig, public yarp::os::Portable {
     virtual ITransformer* clone() = 0;
 
     /*
-     * Inherited from IConfig.
+     * Configure.
      */
     virtual bool configure(yarp::os::Searchable& config) { return true; }
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/LSSVMLearner.h b/src/libraries/learningMachine/include/iCub/learningMachine/LSSVMLearner.h
@@ -22,7 +22,6 @@
 #include <vector>
 #include <sstream>
 
-#include <yarp/os/IConfig.h>
 #include <yarp/sig/Matrix.h>
 
 #include "iCub/learningMachine/IFixedSizeLearner.h"
@@ -31,7 +30,7 @@
 namespace iCub {
 namespace learningmachine {
 
-class Kernel : public yarp::os::IConfig {
+class Kernel {
 private:
     std::string name;
 public:
@@ -77,7 +76,7 @@ class RBFKernel : public Kernel {
     }
 
     /*
-     * Inherited from IConfig.
+     * Inherited from Kernel.
      */
     virtual bool configure(yarp::os::Searchable& config) {
         bool success = false;
@@ -237,7 +236,7 @@ class LSSVMLearner : public IFixedSizeLearner {
     void setCoDomainSize(unsigned int size);
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IMachineLearner.
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/LinearGPRLearner.h b/src/libraries/learningMachine/include/iCub/learningMachine/LinearGPRLearner.h
@@ -181,7 +181,7 @@ class LinearGPRLearner : public IFixedSizeLearner {
     double getSigma();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IMachineLearner.
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/LinearScaler.h b/src/libraries/learningMachine/include/iCub/learningMachine/LinearScaler.h
@@ -62,7 +62,7 @@ class LinearScaler : public IScaler {
     virtual std::string getInfo();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IScaler.
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/Normalizer.h b/src/libraries/learningMachine/include/iCub/learningMachine/Normalizer.h
@@ -89,7 +89,7 @@ class Normalizer : public IScaler {
     virtual std::string getInfo();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IScaler.
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/RLSLearner.h b/src/libraries/learningMachine/include/iCub/learningMachine/RLSLearner.h
@@ -168,7 +168,7 @@ class RLSLearner : public IFixedSizeLearner {
     double getLambda();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from IMachineLearner.
      */
     virtual bool configure(yarp::os::Searchable& config);
 };

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/RandomFeature.h b/src/libraries/learningMachine/include/iCub/learningMachine/RandomFeature.h
@@ -122,7 +122,7 @@ class RandomFeature : public IFixedSizeTransformer {
     virtual void reset();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from ITransformer.
      */
     virtual bool configure(yarp::os::Searchable &config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/ScaleTransformer.h b/src/libraries/learningMachine/include/iCub/learningMachine/ScaleTransformer.h
@@ -154,7 +154,7 @@ class ScaleTransformer : public IFixedSizeTransformer {
     virtual void reset();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from ITransformer.
      */
     virtual bool configure(yarp::os::Searchable &config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/SparseSpectrumFeature.h b/src/libraries/learningMachine/include/iCub/learningMachine/SparseSpectrumFeature.h
@@ -127,7 +127,7 @@ class SparseSpectrumFeature : public IFixedSizeTransformer {
     virtual void reset();
 
     /*
-     * Inherited from IConfig.
+     * Inherited from ITransformer.
      */
     virtual bool configure(yarp::os::Searchable &config);
 

diff --git a/src/libraries/learningMachine/include/iCub/learningMachine/Standardizer.h b/src/libraries/learningMachine/include/iCub/learningMachine/Standardizer.h
@@ -102,7 +102,7 @@ class Standardizer : public IScaler {
     virtual std::string getInfo();
 
     /*
-     * Inherited from IConfig
+     * Inherited from IScaler
      */
     virtual bool configure(yarp::os::Searchable& config);
 

diff --git a/src/modules/camCalib/include/iCub/ICalibTool.h b/src/modules/camCalib/include/iCub/ICalibTool.h
@@ -11,17 +11,14 @@
 
 // yarp
 #include <yarp/sig/Image.h>
-#include <yarp/os/IConfig.h>
 
 /**
  * Interface to calibrate and project input image based on camera's internal parameters and projection mode\n
  */
-class ICalibTool : public yarp::os::IConfig
+class ICalibTool
 {
 
 public:
-
-    // IConfig
     virtual bool open (yarp::os::Searchable &config) = 0;
     virtual bool close () = 0;
     virtual bool configure (yarp::os::Searchable &config) = 0;

diff --git a/src/modules/camCalib/include/iCub/PinholeCalibTool.h b/src/modules/camCalib/include/iCub/PinholeCalibTool.h
@@ -23,7 +23,6 @@
 // yarp
 //#include <yarp/sig/Image.h>
 #include <yarp/sig/all.h>
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Bottle.h>
 #include <yarp/os/Value.h>
 

diff --git a/src/modules/camCalib/include/iCub/SphericalCalibTool.h b/src/modules/camCalib/include/iCub/SphericalCalibTool.h
@@ -12,7 +12,6 @@
 // yarp
 //#include <yarp/sig/Image.h>
 #include <yarp/sig/all.h>
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Value.h>
 
 // opencv
@@ -56,7 +55,6 @@ class SphericalCalibTool : public ICalibTool
     SphericalCalibTool();
     virtual ~SphericalCalibTool();
 
-    // IConfig
     virtual bool open (yarp::os::Searchable &config);
     virtual bool close();
     virtual bool configure (yarp::os::Searchable &config);

diff --git a/src/modules/camCalibWithPose/include/iCub/ICalibTool.h b/src/modules/camCalibWithPose/include/iCub/ICalibTool.h
@@ -11,17 +11,14 @@
 
 // yarp
 #include <yarp/sig/Image.h>
-#include <yarp/os/IConfig.h>
 
 /**
  * Interface to calibrate and project input image based on camera's internal parameters and projection mode\n
  */
-class ICalibTool : public yarp::os::IConfig
+class ICalibTool
 {
 
 public:
-
-    // IConfig
     virtual bool open (yarp::os::Searchable &config) = 0;
     virtual bool close () = 0;
     virtual bool configure (yarp::os::Searchable &config) = 0;

diff --git a/src/modules/camCalibWithPose/include/iCub/PinholeCalibTool.h b/src/modules/camCalibWithPose/include/iCub/PinholeCalibTool.h
@@ -23,7 +23,6 @@
 // yarp
 //#include <yarp/sig/Image.h>
 #include <yarp/sig/all.h>
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Bottle.h>
 #include <yarp/os/Value.h>
 

diff --git a/src/modules/camCalibWithPose/include/iCub/SphericalCalibTool.h b/src/modules/camCalibWithPose/include/iCub/SphericalCalibTool.h
@@ -12,7 +12,6 @@
 // yarp
 //#include <yarp/sig/Image.h>
 #include <yarp/sig/all.h>
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Value.h>
 
 // opencv
@@ -56,7 +55,6 @@ class SphericalCalibTool : public ICalibTool
     SphericalCalibTool();
     virtual ~SphericalCalibTool();
 
-    // IConfig
     virtual bool open (yarp::os::Searchable &config);
     virtual bool close();
     virtual bool configure (yarp::os::Searchable &config);

diff --git a/src/modules/dualCamCalib/include/iCub/ICalibTool.h b/src/modules/dualCamCalib/include/iCub/ICalibTool.h
@@ -11,17 +11,14 @@
 
 // yarp
 #include <yarp/sig/Image.h>
-#include <yarp/os/IConfig.h>
 
 /**
  * Interface to calibrate and project input image based on camera's internal parameters and projection mode\n
  */
-class ICalibTool : public yarp::os::IConfig
+class ICalibTool
 {
 
 public:
-
-    // IConfig
     virtual bool open (yarp::os::Searchable &config) = 0;
     virtual bool close () = 0;
     virtual bool configure (yarp::os::Searchable &config) = 0;

diff --git a/src/modules/dualCamCalib/include/iCub/PinholeCalibTool.h b/src/modules/dualCamCalib/include/iCub/PinholeCalibTool.h
@@ -23,7 +23,6 @@
 // yarp
 //#include <yarp/sig/Image.h>
 #include <yarp/sig/all.h>
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Bottle.h>
 #include <yarp/os/Value.h>
 

diff --git a/src/modules/dualCamCalib/include/iCub/SphericalCalibTool.h b/src/modules/dualCamCalib/include/iCub/SphericalCalibTool.h
@@ -12,7 +12,6 @@
 // yarp
 //#include <yarp/sig/Image.h>
 #include <yarp/sig/all.h>
-#include <yarp/os/IConfig.h>
 #include <yarp/os/Value.h>
 
 // opencv
@@ -56,7 +55,6 @@ class SphericalCalibTool : public ICalibTool
     SphericalCalibTool();
     virtual ~SphericalCalibTool();
 
-    // IConfig
     virtual bool open (yarp::os::Searchable &config);
     virtual bool close();
     virtual bool configure (yarp::os::Searchable &config);

diff --git a/src/modules/learningMachine/QUICKSTART b/src/modules/learningMachine/QUICKSTART
@@ -320,7 +320,7 @@ A better strategy is to interface with the desired subtype indirectly using the
 abstract base classes. In this case, configuration cannot be done directly 
 using member functions, as each subtype will have different configurable 
 parameters and thus different functions. Instead, configuration is done by 
-sending Property instances to the configure method (cf. the YARP IConfig class).
+sending Property instances to the configure method.
 This strategy already guarantees that changing to another subtype only involves 
 a reasonably small amount of changes in your program. Changing to another 
 subtype will, however, require a recompilation of the program. Further, features