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

[Sylvain Joyeux]

On 12/05/2011 12:36 PM, Chris Mueller wrote:
> On 05.12.2011 12:12, Sylvain Joyeux wrote:
>> 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.
>>
> You are right. The composition of different planning methods will also
> matter for the implementation of our standard. That's a good point.
>
> I think that's maybe a good time for introducing a roby plugin for all
> fipa related stuff, where we can extend and create some classes with
> additional features without affecting other projects, that don't need to
> use fipa. And we don't need to change the general code base in roby for
> that issue.
I think that would be a good idea, yes.

> I'll try to cope with your second solution. I currently don't know the
> capabilities of the reflection api ruby provides, but maybe i can also
> find a distinction between private and public methods and to create an
> array of planning methods only defined in e.g. new planner class
> (inheriting the MainPlanner).
Unfortunately, the planning class is a bit of an over-engineered thing. 
You won't be able to separate between public and private.

In any case, I personally believe that the first solution is the best 
one. Using private access will hinder your ability (as a human) to call 
the "helper" methods for testing.
-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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