45 if (config.check(
"help"))
50 std::string config_string = config.toString();
51 yarp::os::Property prop_check(config_string.c_str());
54 if (config.check(
"jointNames"))
58 yarp::os::Bottle* tempBot = config.find(
"jointNames").asList();
61 std::string tempBots = tempBot->toString();
62 for (
size_t i=0; i<tempBot->size(); i++)
69 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"parameter 'jointNames' is not a properly formatted bottle";
72 yCInfo(CouplingICubHandMk2ParamsCOMPONENT) <<
"Parameter 'jointNames' using value:" <<
m_jointNames;
76 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Mandatory parameter 'jointNames' not found!";
77 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Description of the parameter: Names of the physical joints";
80 prop_check.unput(
"jointNames");
85 yarp::os::Bottle sectionp;
86 sectionp = config.findGroup(
"LIMITS");
87 if (sectionp.check(
"jntPosMin"))
91 yarp::os::Bottle* tempBot = sectionp.find(
"jntPosMin").asList();
94 std::string tempBots = tempBot->toString();
95 for (
size_t i=0; i<tempBot->size(); i++)
102 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"parameter 'LIMITS_jntPosMin' is not a properly formatted bottle";
105 yCInfo(CouplingICubHandMk2ParamsCOMPONENT) <<
"Parameter 'LIMITS::jntPosMin' using value:" <<
m_LIMITS_jntPosMin;
109 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Mandatory parameter 'LIMITS::jntPosMin' not found!";
110 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Description of the parameter: Physical joints' position minimum";
113 prop_check.unput(
"LIMITS::jntPosMin");
118 yarp::os::Bottle sectionp;
119 sectionp = config.findGroup(
"LIMITS");
120 if (sectionp.check(
"jntPosMax"))
124 yarp::os::Bottle* tempBot = sectionp.find(
"jntPosMax").asList();
127 std::string tempBots = tempBot->toString();
128 for (
size_t i=0; i<tempBot->size(); i++)
135 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"parameter 'LIMITS_jntPosMax' is not a properly formatted bottle";
138 yCInfo(CouplingICubHandMk2ParamsCOMPONENT) <<
"Parameter 'LIMITS::jntPosMax' using value:" <<
m_LIMITS_jntPosMax;
142 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Mandatory parameter 'LIMITS::jntPosMax' not found!";
143 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Description of the parameter: Physical joints' position maximum";
146 prop_check.unput(
"LIMITS::jntPosMax");
151 yarp::os::Bottle sectionp;
152 sectionp = config.findGroup(
"COUPLING");
153 if (sectionp.check(
"device"))
156 yCInfo(CouplingICubHandMk2ParamsCOMPONENT) <<
"Parameter 'COUPLING::device' using value:" <<
m_COUPLING_device;
160 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Mandatory parameter 'COUPLING::device' not found!";
161 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Description of the parameter: Name of the device that handles the coupling";
164 prop_check.unput(
"COUPLING::device");
169 yarp::os::Bottle sectionp;
170 sectionp = config.findGroup(
"COUPLING");
171 if (sectionp.check(
"actuatedAxesNames"))
175 yarp::os::Bottle* tempBot = sectionp.find(
"actuatedAxesNames").asList();
178 std::string tempBots = tempBot->toString();
179 for (
size_t i=0; i<tempBot->size(); i++)
186 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"parameter 'COUPLING_actuatedAxesNames' is not a properly formatted bottle";
193 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Mandatory parameter 'COUPLING::actuatedAxesNames' not found!";
194 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Description of the parameter: Names of the actuated axes";
197 prop_check.unput(
"COUPLING::actuatedAxesNames");
202 yarp::os::Bottle sectionp;
203 sectionp = config.findGroup(
"COUPLING");
204 if (sectionp.check(
"actuatedAxesPosMin"))
208 yarp::os::Bottle* tempBot = sectionp.find(
"actuatedAxesPosMin").asList();
211 std::string tempBots = tempBot->toString();
212 for (
size_t i=0; i<tempBot->size(); i++)
219 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"parameter 'COUPLING_actuatedAxesPosMin' is not a properly formatted bottle";
226 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Mandatory parameter 'COUPLING::actuatedAxesPosMin' not found!";
227 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Description of the parameter: Actuated axes' position minimum";
230 prop_check.unput(
"COUPLING::actuatedAxesPosMin");
235 yarp::os::Bottle sectionp;
236 sectionp = config.findGroup(
"COUPLING");
237 if (sectionp.check(
"actuatedAxesPosMax"))
241 yarp::os::Bottle* tempBot = sectionp.find(
"actuatedAxesPosMax").asList();
244 std::string tempBots = tempBot->toString();
245 for (
size_t i=0; i<tempBot->size(); i++)
252 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"parameter 'COUPLING_actuatedAxesPosMax' is not a properly formatted bottle";
259 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Mandatory parameter 'COUPLING::actuatedAxesPosMax' not found!";
260 yCError(CouplingICubHandMk2ParamsCOMPONENT) <<
"Description of the parameter: Actuated axes' position maximum";
263 prop_check.unput(
"COUPLING::actuatedAxesPosMax");