Revision 1f748ce7 examples/yarp_icub/include/icub_jointinterface.h

View differences:

examples/yarp_icub/include/icub_jointinterface.h
74 74 
    // yarp views
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    yarp::dev::IVelocityControl *yarp_ivel_;
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    yarp::dev::IPositionControl *yarp_ipos_;
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    //yarp::dev::IEncodersTimed *yarp_iencs_;


  		




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    yarp::dev::IControlLimits *yarp_ilimits_;


  		




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    yarp::dev::IAmplifierControl *yarp_amp_;


  		




  ......




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    void init_joints();


  		




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    std::string scope;


  		




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    yarp::sig::Vector positions;


  		




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    yarp::sig::Vector velocities;


  		




  
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    //yarp::sig::Vector positions;


  		




  
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    //yarp::sig::Vector velocities;


  		




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    void store_min_max(yarp::dev::IControlLimits *ilimits, int id, int e);


  		




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    float last_pos_eye_vergence;


  		




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    float last_pos_eye_pan;


  		




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    float last_vel_eye_vergence;


  		




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    float last_vel_eye_pan;


  		




  
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   //float last_pos_eye_vergence;


  		




  
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    //float last_pos_eye_pan;


  		




  
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   // float last_vel_eye_vergence;


  		




  
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    //float last_vel_eye_pan;


  		




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    void store_joint(int id, float value);


  		




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    void set_target_in_positionmode(int id);


  		




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    void set_target_in_velocitymode(int id);


  		




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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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    //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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