[Rock-dev] Create BaseType for FibreOpticGyro

[Sylvain Joyeux]

On 07/15/2011 01:21 PM, Matthias Goldhoorn wrote:
> But in this case we need an data type for accumulated rotations
> (unimportand if the driver or device do this).
An accumulated rotation is a rotation, i.e. a RBS.

> Extending the IMUSensor for invalidatation of axis and sensors.
> Extending the IMUSensor for Accumulated Gyro values to make the handling
> better and be on the safe site and let the modules later on do the
> differentiation.
Nope. Accumulated rotation = RigidBodyState

> But the mode (non-differential or accumulated) should be handled by the
> Driver.
> In accumulated mode the Driver could do the differentiation and
> vise-versa for rad/s mode to set the members in the new IMUSensors module?!.
Would make sense

To try summarizing:

   * one IMUSensors port for instantaneous speeds
   * one RigidBodyState for accumulated rotation

Depending on the requested device mode, either the device gives the 
speed and you compute the accumulation or the other way around


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

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