Getting joint limits

[matusko89]

So after my original post on robotcub

"Hi hackers,
I was trying to find if there is a way to get the limit for some iCub simulator joint. Something that would return the lower or upper limit of desired joint. Is there a way to do this or I need to remember this limits for each joint?"

and reply from @pattacini I am opening this issue :)

[barbalberto]

To get the joint limits you have to open the IControlLimits interface using the view method.

yarp::dev::IControlLimits *iLim;
device.view(iLim);     // device is your remoteControlBoard

and then call the getLimits method:

iLim->getLimits(int j, double *min, double *max);

This will return the min and max bounds for the given joint j.

[pattacini]

To open a motor device to then use the yarp::dev::IControlLimits interface, refer to the wiki.