Patch iKin versioning (#36)

* Patch iKin versioning * Update CMakeLists.txt
robotology · Dec 5, 2022 · 13e9bea · 13e9bea
1 parent b54668b
commit 13e9bea
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Showing 2 changed files with 4 additions and 8 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,7 +12,7 @@ project(stereo-vision)
 
 find_package(ICUBcontrib REQUIRED)
 find_package(YARP 3.5.1 COMPONENTS os sig dev math cv rosmsg idl_tools REQUIRED)
-find_package(ICUB REQUIRED)
+find_package(ICUB 2.0.0 REQUIRED)
 
 list(APPEND CMAKE_MODULE_PATH ${ICUB_MODULE_PATH}
                               ${ICUBCONTRIB_MODULE_PATH}

diff --git a/lib/src/disparityThread.cpp b/lib/src/disparityThread.cpp
@@ -378,13 +378,9 @@ bool DisparityThread::threadInit()
 
     Bottle p;
     igaze->getInfo(p);
-    int vHead=(int)p.check(("head_version"),Value(1.0)).asFloat64();
-    stringstream headType;
-    headType << "v";
-    headType << vHead;
-
-    LeyeKin=new iCubEye("left_"+headType.str());
-    ReyeKin=new iCubEye("right_"+headType.str());
+    auto vHead=p.check(("head_version"),Value("1.0")).asString();
+    LeyeKin=new iCubEye("left_v"+vHead);
+    ReyeKin=new iCubEye("right_v"+vHead);
     LeyeKin->releaseLink(0);
     LeyeKin->releaseLink(1);
     LeyeKin->releaseLink(2);