iCub-main
cartesianInterfaceControl

Just an example of how to control the iCub arm in the operational space making use of the Cartesian Interface. More...

+ Collaboration diagram for cartesianInterfaceControl:

Just an example of how to control the iCub arm in the operational space making use of the Cartesian Interface.

Copyright (C) 2010 RobotCub Consortium

Author: Ugo Pattacini

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Description

This module relies on The Cartesian Interface to provide a kind of easy-to-use port-based front-end for controlling the iCub's arm in the operational space.

Libraries

Parameters

–name name

–robot name

–part type

–T time

–tol tol

–DOF8

–DOF9

–DOF10

–onlyXYZ

–reinstate_context

Ports Accessed

The robot interface is assumed to be operative; in particular, the ICartesianControl interface must be available.

Ports Created

The module creates the ports required for the communication with the robot (through interfaces) and the following ports:

Input Data Files

None.

Output Data Files

None.

Configuration Files

None.

Tested OS

Windows, Linux

Author
Ugo Pattacini