Controller implementations and plugins for communicating between the whole body controller libraries developed at ISIR, ocra-recipes, and the iCub Whole Body Interface, WBI, libraries.
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Here's how everything is laid out...
Interface libraries between WBI and ocra. The interface consists primarily of an inherited Model class who's virtual functions are implemented using WBI's functions. A Utilities class is also available for converting between various dynamic representations.
This is an implementation of the ocra-server interface which gets the robot specific model info, calls the computeTorque() function and then sends it to the robot. The rest of the code is designed around yarp RFModule and RateThread, to parse command line args, and talk to the WBI. At the core of this code is the implementation of ocra_recipes::ControllerServer class. The rest of the code is icub specific.
This folder provides various cmake modules which allow cmake to find various packages and build packages from these projects.
Everything here should be built with codyco-superbuild to make sure you have all of the required libs.
See the video tutorials... Work in progress.