[Rock-dev] Roby::Planning::PlanningMethod

[Sylvain Joyeux]

On 12/05/2011 12:01 PM, Chris Mueller wrote:
> On 05.12.2011 11:51, Sylvain Joyeux wrote:
>> On 12/05/2011 11:45 AM, Chris Mueller wrote:
>>> Does anyone have an idea how to filter this structure between
>>> planning_methods and 'defines'? Or do
>>> we have an instance in the system, which can provide only an array of
>>> 'defines' ?
>> Why do you want to distinguish ?
>>
> We have a standard of different methods we want to implement in the main
> planner interface, which should be accessible via our remote interface
> using the fipa protocol.
I don't think that filtering defines and devices is going to fix your 
general problem. The solutions I see:

  * solution 1: explicitely tell your bridge which methods are
    "local-only" and which are to be available on FIPA. At some point
    you *will* create some methods to "support" other methods (i.e.
    stuff that you don't want to be available on FIPA but should be in
    the same Planner class than the others)
  * solution 2: create a different planner class that you use only for
    FIPA. I don't think it's going to completely fix your problem as you
    will probably, at some point, create some "private" methods as
    pointed out on solution 1.

-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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