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CopyPolicy: Released under the terms of the LGPLv2.1 or later, see license/LGPL.TXT

Building

cd examples/cpp/exampleScrewTheoryTrajectory/
mkdir build; cd build; cmake ..
make -j$(nproc)

Running example with teoSim First we must run a YARP name server if it is not running in our current namespace:

[on terminal 1] yarp server

What mostly changes is the library command line invocation. We also change the server port name. The following is an example for the simulated robot's right arm.

[on terminal 2] teoSim
[on terminal 3] yarpdev --device BasicCartesianControl --name /teoSim/leftArm/CartesianControl --kinematics teo-fixedTrunk-leftArm-fetch.ini --robot remote_controlboard --local /BasicCartesianControl/teoSim/leftArm --remote /teoSim/leftArm --angleRepr axisAngle
[on terminal 4] ./exampleScrewTheoryTrajectory