Revision 372eec67 examples/yarp_icub/include/icub_jointinterface.h
| examples/yarp_icub/include/icub_jointinterface.h | ||
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// 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::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::sig::Vector velocities; |
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void store_min_max(yarp::dev::IControlLimits *ilimits, int id, int e);
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void store_min_max(yarp::dev::IControlLimits *ilimits, int icub_id);
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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 store_joint(int id, float value); |
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void set_target_in_velocitymode(int id); |
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