[Rock-dev] Proposal for adding velocity information in base::actuators::Status

[Javier Hidalgo Carrió]

Hello rocks,

In Sherpa robot we are receiving angular position and angular velocity 
information of every joints in the robot every 40ms coming from the 
lower level (FPGA and Monster).

The rock data type base:actuators::Status is the data type in rock for 
joint information, which contains:

            struct MotorState {
             int      current;  //! current in mA
             double   position; //! position in radians
             double   positionExtern; //! position of external encoder 
in radians
             float    pwm;      //! duty cycle in [-1; 1]

             MotorState()
                 : current(0), position(0), positionExtern(0), pwm(0) {}
         };

I was wondering which is the correct data type to store joint velocities 
information and if any what about include it in base:actuators::Status

Any suggestion?

Javier.