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Implement `IVelocityControl` control mode in controlboard plugin #144

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xela-95 opened this issue Apr 5, 2024 · 1 comment

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phase:implementation plugin:controlboard

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xela-95 commented Apr 5, 2024

See https://www.yarp.it/latest/classyarp_1_1dev_1_1IVelocityControl.html

xela-95 added phase:implementation plugin:controlboard labels

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traversaro commented Apr 5, 2024

I guess no active use case from AMI is doing this. However this is necessary to properly simulate iCub's eyes and the iCub's Gaze controller (https://robotology.github.io/robotology-documentation/doc/html/icub_gaze_interface.html), that uses the so-called position-velocity mixed mode, see the VOCAB_CM_MIXED mode in https://github.com/robotology/icub-main/blob/4595c48eb71a0ce64d61ea309bea329fb0c8bff7/src/modules/iKinGazeCtrl/src/controller.cpp#L576 .

S-Dafarra assigned xela-95

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