Libbarrett
1.2.4
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This is the documentation for the libbarrett
real-time controls library, written and maintained by Barrett Technology, Inc. Libbarrett is written in C++ and runs Barrett Technology's products, including the WAM Arm and the BH8-280 BarrettHand. For further information, see the documentation at: http://support.barrett.com/wiki/Libbarrett
The best way to get started with libbarrett is by reading and experimenting with the programs in the examples
directory.
The library provides both a high-level interface (initialize the Hand, move the WAM to a position in joint-space, etc.) and a low-level interface (for performing torque calculations in hard real-time).
This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation.
Contact us at:
support@barrett.com http://www.barrett.com/ +1-617-252-9000
Barrett Technology 625 Mount Auburn Street Cambridge, MA 02138 USA