humotion

class iCubDataReceiver : public yarp::os::RateThread{

public:

    bool threadInit();

    void threadRelease();

    void run();

    yarp::sig::Vector positions;

    yarp::sig::Vector velocities;

    yarp::sig::Vector commands;

    iCubJointInterface *icub_jointinterface;

};

#include <humotion/server/joint_interface.h>

#include <boost/bimap.hpp>

#include <yarp/dev/PolyDriver.h>

#include <yarp/dev/IControlLimits2.h>

#include <yarp/dev/ControlBoardInterfaces.h>

#include <yarp/os/Time.h>

        ICUB_ID_EYES_PAN = 4,

        ICUB_ID_EYES_VERGENCE = 5,

        //the following ids are used for remapping:

        ICUB_ID_EYES_LEFT_LID_LOWER,

        ICUB_ID_EYES_LEFT_LID_UPPER,

        ICUB_ID_EYES_RIGHT_LID_LOWER,

    void execute_motion();

private:

    double get_timestamp_ms();

    double target_angle[ICUB_JOINT_ID_ENUM_SIZE];

    double target_angle_previous[ICUB_JOINT_ID_ENUM_SIZE];

    yarp::dev::IVelocityControl *ivel;

    yarp::dev::IPositionControl *ipos;

    yarp::dev::IControlLimits *ilimits;

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