kinematics-dynamics
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Copyright: (C) 2018 Universidad Carlos III de Madrid;
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