d4cServer

Just a container which runs the server part of the Dynamic Force Field Controller (D4C) framework. More...

Just a container which runs the server part of the Dynamic Force Field Controller (D4C) framework.

Description

See D4C Library for detailed documentation.

Libraries

• YARP libraries.
• D4C library.

Parameters

–robot robot

• select the robot to connect to.

–part part

• select the part to control. Available parts are left_arm, right_arm and both_arms.

–name name

• specify the stem-name of the server.

–device device

• select the cartesian device to rely on. Currently only the cartesiancontrollerclient is supported.

–period Ts

• specify the server period given in [ms].

–verbosity level

• specify the verbosity level of the server print-outs.

Ports Created

Among all the ports created by the server, one deserves particular attention. In fact, the port /<name>/gui:o can be directly connected to the icub_gui objects port for visualization purpose.

Tested OS

Windows, Linux

Author

Ilaria Gori, Ugo Pattacini