fixed documentation

doc/image_processing.dox

@@ -191,9 +191,10 @@ Now we can read from this port (just to test) with yarp read:
 
 Now let's write a separate program that takes the target location computed in find_location.cpp and drives the real of simulated camera to look towards that location.  First, we need to read our vector:
 \code
-  #include <stdio.h>
+  #include <cstdio>
   #include <yarp/os/all.h>
   #include <yarp/sig/all.h>
+  using namespace std;
   using namespace yarp::os;
   using namespace yarp::sig;
   int main() {
@@ -272,13 +273,15 @@ We connect to the simulator head:
       printf("Cannot connect to robot head\n");
       return 1;
     }
+    IControlMode     *mod;
     IPositionControl *pos;
     IVelocityControl *vel;
     IEncoders *enc;
+    robotHead.view(mod);
     robotHead.view(pos);
     robotHead.view(vel);
     robotHead.view(enc);
-    if (pos==NULL || vel==NULL || enc==NULL) {
+    if (mode==NULL || pos==NULL || vel==NULL || enc==NULL) {
       printf("Cannot get interface to robot head\n");
       robotHead.close();
       return 1;
@@ -287,6 +290,10 @@ We connect to the simulator head:
     pos->getAxes(&jnts);
     Vector setpoints;
     setpoints.resize(jnts);
+
+    // enable velocity control mode
+    vector<int> modes(jnts,VOCAB_CM_VELOCITY);
+    mod->setControlModes(modes.data());
 \endcode
 
 Finally let's send a dumb command just to test:
@@ -402,10 +409,11 @@ Complete code for finding the blue ball:
 Complete look_at_location.cpp:
 
 \code
- #include <stdio.h>
+ #include <cstdio>
  #include <yarp/os/all.h>
  #include <yarp/sig/all.h>
  #include <yarp/dev/all.h>
+ using namespace std;
  using namespace yarp::os;
  using namespace yarp::sig;
  using namespace yarp::dev;
@@ -424,9 +432,11 @@ Complete look_at_location.cpp:
      printf("Cannot connect to robot head\n");
      return 1;
    }
+   IControlMode     *mod;
    IPositionControl *pos;
    IVelocityControl *vel;
    IEncoders *enc;
+   robotHead.view(mod);
    robotHead.view(pos);
    robotHead.view(vel);
    robotHead.view(enc);
@@ -439,6 +449,10 @@ Complete look_at_location.cpp:
    pos->getAxes(&jnts);
    Vector setpoints;
    setpoints.resize(jnts);
+
+   // enable velocity control mode
+   vector<int> modes(jnts,VOCAB_CM_VELOCITY);
+   mod->setControlModes(modes.data());
 
    while (1) { // repeat forever
      Vector *target = targetPort.read();  // read a target