couplingICubEye
This is the device for YARP for handling the coupling of the eyes
Device documentation
This device driver exposes the yarp::dev::IJointCoupling interface to getting quantities from the physical joints to the actuated axes domain and viceversa. See the documentation for more details about each interface.
| YARP device name |
|---|
couplingICubEye |
Parameters used by this device are:
| Parameter name | SubParameter | Type | Read / write | Units | Default Value | Required | Description | Notes |
|---|---|---|---|---|---|---|---|---|
jointNames | - | list of strings | Read / write | - | - | Yes | Names of the physical joints | |
LIMITS | - | group | Read / write | - | - | Yes | group containing the physical joint limits | |
jntPosMin | list of double | Read / write | - | - | Yes | Physical joints' position minimum | ||
jntPosMax | list of double | Read / write | - | - | Yes | Physical joints' position maximum |
| COUPLING | - | group | Read / write | - | - | Yes | The group containing the coupling description | | actuatedAxesNames | list of strings | Read / write | - | - | Yes | Names of the actuated axes | | | | actuatedAxesPosMin | list of strings | Read / write | - | - | Yes | Actuated axes' position minimum | | | | actuatedAxesPosMax | list of strings | Read / write | - | - | Yes | Actuated axes' position maximum | |
Configuration file using .ini format:
