Revision 87b50988 examples/yarp_icub/include/icub_jointinterface.h
| examples/yarp_icub/include/icub_jointinterface.h | ||
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| 86 | 86 |
yarp::dev::IAmplifierControl *amp; |
| 87 | 87 |
yarp::dev::IPidControl *pid; |
| 88 | 88 |
yarp::dev::IControlMode *icontrol; |
| 89 |
std::vector<double> last_position_error; |
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| 90 |
std::vector<double> PID_P; |
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| 91 |
std::vector<double> PID_D; |
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| 89 | 92 |
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| 90 | 93 |
void store_min_max(yarp::dev::IControlLimits *ilimits, int id, int e); |
| 91 | 94 |
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| ... | ... | |
| 95 | 98 |
float last_vel_eye_pan; |
| 96 | 99 |
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| 97 | 100 |
void store_joint(int id, float value); |
| 98 |
void set_target_in_positionmode(int id, double value);
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| 99 |
void set_target_in_velocitymode(int id, double value);
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| 101 |
void set_target_in_positionmode(int id); |
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| 102 |
void set_target_in_velocitymode(int id); |
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| 100 | 103 |
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| 101 | 104 |
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| 102 | 105 |
int convert_enum_to_motorid(int e); |
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