iKin: iCubEye handles head_version 2.6

robotology · Aug 13, 2019 · b216c5b · b216c5b
1 parent 791952c
commit b216c5b
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/libraries/iKin/src/iKinFwd.cpp b/src/libraries/iKin/src/iKinFwd.cpp
@@ -2430,7 +2430,7 @@ void iCubEye::allocate(const string &_type)
         pushLink(new iKinLink(    0.0,  -0.034, -M_PI/2.0,       0.0, -35.0*CTRL_DEG2RAD, 15.0*CTRL_DEG2RAD));
         pushLink(new iKinLink(    0.0,     0.0,  M_PI/2.0, -M_PI/2.0, -50.0*CTRL_DEG2RAD, 50.0*CTRL_DEG2RAD));
     }
-    else if ((getType()=="right_v2") || (getType()=="right_v2.5"))
+    else if ((getType()=="right_v2") || (getType()=="right_v2.5") || (getType()=="right_v2.6"))
     {
         pushLink(new iKinLink(  0.032,     0.0,  M_PI/2.0,       0.0, -22.0*CTRL_DEG2RAD, 84.0*CTRL_DEG2RAD));
         pushLink(new iKinLink(    0.0, -0.0055,  M_PI/2.0, -M_PI/2.0, -39.0*CTRL_DEG2RAD, 39.0*CTRL_DEG2RAD));
@@ -2468,7 +2468,7 @@ void iCubEye::allocate(const string &_type)
     }
     else
     {
-        if ((type!="left_v2") && (type!="left_v2.5"))
+        if ((type!="left_v2") && (type!="left_v2.5") && (type!="left_v2.6"))
             type="left_v2";
 
         pushLink(new iKinLink(  0.032,     0.0,  M_PI/2.0,       0.0, -22.0*CTRL_DEG2RAD, 84.0*CTRL_DEG2RAD));