init_grpc()

bool ANN_iCub_Interface.iCub.Joint_Writer.PyJointWriter.init_grpc	(		self,
		ANNiCub_wrapper	iCub,
		str	name,
		str	part,
		int	n_pop,
			joints,
		str	mode,
			blocking = ...,
		float	degr_per_neuron = ...,
		float	speed = ...,
		str	ini_path = ...,
		str	ip_address = ...,
		int	port = ... )

Initialize the joint writer with given parameters, including the gRPC based connection.

Parameters
----------
iCub : ANNiCub_wrapper
    main interface wrapper
name : str
    name for the joint writer module
part : str
    string representing the robot part, has to match iCub part naming {left_(arm/leg), right_(arm/leg), head, torso}
n_pop : unsigned int
    number of neurons per population, encoding each one joint angle;
    only works if parameter "deg_per_neuron" is not set
joints : list (vector[int]
    joint selection for grpc -> empty vector for all joints
mode : str
    string to select the motion mode:
        'abs' for absolute joint angle positions;
        'rel' for relative joint angles;
        'vel' for velocity values: DO NOT USE "VEL" AS BLOCKING MOTION!!!
blocking : bool
    if True, complete motion before continuation. (Default value = True)
degr_per_neuron : double
    degree per neuron in the populationencoding the joints angles;
    if set: population size depends on joint working range. (Default value = 0.0)
speed : double
    velocity for the joint movements. (Default value = 10.0)
ini_path : str
    Path to the "interface_param.ini"-file. (Default value = "../data/")
ip_address : str
    gRPC server ip address. (Default value = "0.0.0.0")
port : unsigned int
    gRPC server port. (Default value = 50010)

Returns
-------
bool
    return True/False, indicating success/failure

Definition at line 131 of file Joint_Writer.pyi.