public virtual PolyDriver owner()
{
global::System.IntPtr cPtr = yarpPINVOKE.DriverCreator_owner(swigCPtr);
PolyDriver ret = (cPtr == global::System.IntPtr.Zero) ? null : new PolyDriver(cPtr, false);
return(ret);
}
public bool link(PolyDriver alt)
{
bool ret = yarpPINVOKE.PolyDriver_link(swigCPtr, PolyDriver.getCPtr(alt));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
// Use this for initialization
void Start()
{
//options.put ("device", deviceType);
//options.put ("local", localPort);
//options.put ("remote", remotePort);
options = new Property ();
options.put ("device", "controlboardwrapper2");
options.put ("subdevice", "simulationcontrol");
options.put ("name", "/icubZobbi/head");
robotDevice = new PolyDriver(options);
if (!robotDevice.isValid ()) {
Debug.Log ("Device not available");
Debug.Log (Drivers.factory().toString());
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(PolyDriver obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public void testMotor(PolyDriver driver)
{
IPositionControl pos = driver.viewIPositionControl ();
if (pos != null)
{
int ct = pos.getAxes();
Debug.Log("Number of axes is " + ct);
}
else
{
Debug.Log("Could not find IPositionControl interface");
}
}
internal static HandleRef getCPtr(PolyDriver obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
public bool link(PolyDriver alt)
{
bool ret = yarpPINVOKE.PolyDriver_link(swigCPtr, PolyDriver.getCPtr(alt));
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public DriverLinkCreator(string name, PolyDriver source)
{
this.name = name;
this.holding = source;
}
