Implement VirtualJointLinkSensor in ICub device

Update position variable name in VirtualJointKinSensor Update interface pointer handling in joint sensor constructor Update spherical joint variables name in XsensSuit device
robotology · Apr 4, 2019 · 1857545 · 1857545
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commit 1857545
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Showing 10 changed files with 362 additions and 56 deletions.
diff --git a/app/xml/ICubWearableDevice.xml b/app/xml/ICubWearableDevice.xml
@@ -5,6 +5,11 @@
             <param name="leftHand">/wholeBodyDynamics/left_arm/endEffectorWrench:o</param>
             <param name="rightHand">/wholeBodyDynamics/right_arm/endEffectorWrench:o</param>
         </group>
+        <group name="icub-joint-sensors">
+            <param name="controlBoardsList">(head torso left_arm right_arm left_leg right_leg)</param>
+            <param name="remotePrefix">/icubSim</param>
+            <param name="localPrefix">/ICubWearableRemoteClient</param>
+        </group>
     </device>
 
     <device type="iwear_wrapper" name="ICubWearableDeviceWrapper">

diff --git a/devices/ICub/include/ICub.h b/devices/ICub/include/ICub.h
@@ -74,6 +74,9 @@ class wearable::devices::ICub final
     SensorPtr<const sensor::IForceTorque6DSensor>
     getForceTorque6DSensor(const sensor::SensorName name) const override;
 
+    inline SensorPtr<const sensor::IVirtualJointKinSensor>
+    getVirtualJointKinSensor(const sensor::SensorName /*name*/) const override;
+
     // UNIMPLEMENTED SENSORS
     // ---------------------