[Rock-dev] <base/motion_command.h>
Matthias Goldhoorn
matthias.goldhoorn at dfki.de
Tue Nov 29 14:20:37 CET 2011
On 29.11.2011 14:16, Alexander Duda wrote:
> On Mon, 2011-11-28 at 10:18 +0100, Matthias Goldhoorn wrote:
>> On 08.11.2011 10:27, Sylvain Joyeux wrote:
>>> On 11/07/2011 03:36 PM, Matthias Goldhoorn wrote:
>>>> Please add (if not availible) an constructor and set the time to zero on
>>>> the initialization.
>>> No need since Time initializes itself to a null time by default.
>>>
>>>> What's with the other motion commands like AUVPositionCommand and
>>>> MotionCommand2D, from my point of view there should be also an
>>>> timestamp.
>>>>
>>>> Should it be added to all MotionCommands to be consistent?
>>> I agree in principle. However, these types are very widely used and we
>>> are in a release process, so do NOT change things unless it is
>>> absolutely required. Which might be the case for AUVMotionCommand.
>>>
>>> In any case, I'd like you to wait for Alex to come back so that he can
>>> give his opinion. Or (even better) a more in-depth discussion on the
>>> long-term future of these types which are completely ad-hoc right now.
>>>
>> I would like to restart the discussion, i currently re-implementing an
>> AUV-Controller (replacement for AvalonCoontrol) that mapps te given
>> input to the thrusters and so base orientation-control stuff with the
>> "new" PID controller.
> In general I would always add a time stamp to a new message type. But in
> this case I do not really see the benefit of changing several types only
> to add a missing time stamp field which is not used by the current
> components.
>
> Therefore
> + 1 for do NOT change things unless it is absolutely required
>
> Alex
>
>
>> So what's the current opinion, should the time to all MotionCommands added?.
>>
>> Vote
>>
>> No:
>> Yes: +1
>>
>> Matthias
>>
I currently cleaning up some "controllers" for this i would like to
check how old the last message really is.
I would prevent something like:
if(last_message_time - base::Time::now()).toSeconds() > foo) throw_error;
do something....
last_message_time = base::Time:now();
instead i would like to use
if(current_message.time - base::Time::now()).toSeconds() > foo) throw_error;
What make more sense from my point of view, all old controller dosn't
need to change, but i don't want to create and "not so good written"
controller only because, "yeah we think it make sense, but no we dont'
want to change because we dont't want changes in base stuff even it make
sense"
Matthias
--
Dipl.-Inf. Matthias Goldhoorn
Unterwasserrobotik
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