C++ Tutorials

We recommend you first get accustomed with YARP. There are a list of tutorials available in this page: YARP Tutorials. In particular you should at least follow

The source code of the following tutorials is hosted in the icub-tutorials repository.

A list of tutorials on various topics from basic compilation, visual processing, to control in the operational space.

The classic hello world - how to write the very first program
Getting accustomed with motor interfaces - a tutorial on how to use the motor interfaces
Getting accustomed with torque/impedance interfaces - a tutorial on how to use the joint level torque/impedance interface
Basic Image Processing - a tutorial on a basic image processing
The PeriodicThread Class - a tutorial on how to write a control loop using threads
The Cartesian Interface - a tutorial on how to control a robot's limb in the operational space
The Gaze Interface - a tutorial on how to control the robot gaze through a YARP interface
Customizing the Cartesian Interface for a Generic Robot - how to control a generic robot through the cartesian interface
iCub Basic Demos - you might also examine some of our demos built on the basic components above.

Advanced integration with the YARP framework require that you get used to the ResourceFinder:

Tutorials on the ResourceFinder

C++ tutorials related to specific libraries

Online documentation for the libraries is available here: iCub libraries.

The following are some specific tutorials.

iKin library

src/iKin/iCubLimbsFwKin/main.cpp - a tutorial on how to use iKin for forward kinematics of iCub limbs
src/iKin/fwInvKinematics/main.cpp - a tutorial on how to directly use iKin to cope with forward/inverse kinematics problems
src/iKin/onlineSolver/main.cpp - a tutorial on how to solve online inverse kinematics of a generic robot limb
src/iKin/genericChainController/main.cpp - a tutorial on how to control a generic kinematic chain

Online documentation is available here: iKin online documentation.

iDyn library

A short introduction to iDyn - a short introduction to the iDyn library
Computation of torques in a single chain, using iDyn - how to compute torques in a single chain, using iDyn library

Online documentation is available here: iDyn online documentation.

Learning Machine Library

These tutorials demonstrate how to interface with the learningMachine library. The easiest way is to use machine learning classes directly. The library also provides C++ abstract interfaces that facilitate migration to their learning methods; their use is illustrated in the intermediate and advanced tutorials. You should check all examples and choose the method that better suits your application.

Basic tutorial. Use learning machines directly: src/learningMachines/lmlibdirect.cpp
Intermediate tutotial. Use learning machines thourgh abstract interfaces: src/learningMachines/lmlibindirect.cpp
Advanced tutorial. Use learning machines through abstract interfaces and factory: src/learningMachines/lmlibportable.cpp

Online documentation is available here: learningMachines online documentation.

Other libraries

src/ctrlLib/onlinePTuner/main.cpp - a tutorial on online tuning of a P controller
src/optimization/calibReference/main.cpp - a tutorial on how to calibrate two reference frames from a cloud of matching points
src/perceptiveModels/tutorial_perceptiveModels.cpp - a tutorial on how to detect contacts of the fingers with external object
src/actionPrimitives/tutorial_actionPrimitives.cpp - a tutorial on how to sequence simple actions in fingers so as Cartesian space.

Python Tutorials

These tutorials assume you installed the YARP and iCub bindings for Python. Follow installation instructions reported in the manual at Interoperability with other languages and middleware.

Using Motor Control Interfaces in Python - a tutorial on how to use the motor interfaces in Python
Controlling the iCub Simulator from Python - a tutorial on how to control the iCub simulator from Python via its RPC interface
Handling YARP images in Python - a tutorial on processing YARP images in Python

Module Documentation Tutorials

The XML Documentation of a Module - tutorial on how to write the XML documentation of a module

This file can be edited at doc/doc.dox