Revision 0d0f5ca1 examples/yarp_icub/include/icub_jointinterface.h

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examples/yarp_icub/include/icub_jointinterface.h
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#include "icub_data_receiver.h"
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class iCubDataReceiver;


  		




  
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class iCubFaceInterface;


  		




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class iCubJointInterface : public humotion::server::JointInterface{


  		




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public:


  		




  ......




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    double target_angle[ICUB_JOINT_ID_ENUM_SIZE];


  		




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    double target_angle_previous[ICUB_JOINT_ID_ENUM_SIZE];


  		




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    void set_eyelid_angle(double angle);


  		




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    void set_eyebrow_angle(int id);


  		




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    void set_mouth();


  		




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    iCubDataReceiver *icub_data_receiver;


  		




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    void init_joints();


  		




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    double lid_angle;


  		




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    int lid_opening_previous;


  		




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    int previous_mouth_state;


  		




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    std::string scope;


  		




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    yarp::dev::PolyDriver dd;


  		




  ......




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    yarp::sig::Vector velocities;


  		




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    yarp::sig::Vector commands;


  		




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    yarp::os::BufferedPort<yarp::os::Bottle> emotion_port[4];


  		




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    yarp::dev::IVelocityControl *ivel;


  		




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    yarp::dev::IPositionControl *ipos;


  		




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    yarp::dev::IEncodersTimed *iencs;


  		




  ......




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    int convert_enum_to_motorid(int e);


  		




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    int convert_motorid_to_enum(int id);


  		




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    iCubFaceInterface *face_interface;


  		




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    typedef boost::bimap<int, int > enum_id_bimap_t;


  		




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    typedef enum_id_bimap_t::value_type enum_id_bimap_entry_t;


  		












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