Code to address iCub Head v2.5 #391
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- iKin: added kinematic structures for head/imu v2.5 - iKinGazeCtrl: replaced --headV2 with --head_version cc #285
traversaro
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Dec 1, 2016
gsaponaro
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Dec 22, 2016
…--headV2 Replaced the option "--headV2" with "--head_version 2.0" (or 2.5), to be consistent with the recent change in iKinGazeCtrl (robotology#391). If the option "--head_version" is absent or has an invalid argument, the head v1 model is used and a message is printed. /cc robotology#285 robotology#405
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Following up discussion in #285, I've prepared these changes to:
Update
iKinto deal with new kinematic structures (the so-called version2.5).Streamline
iKinGazeCtrlto the use of new command-line parameters--head_versionin place of--headV2.In the new context of diverse head versions,
--headV2was quite limiting, also considering future hardware releases.I'm going to create a corresponding PR in robots-configuration to update
iKinGazeCtrlparameters.Once done, I'll send around an announcement.
@traversaro could you please have a look here?