[Rock-dev] CopterCommand to base/types

[Matthias Goldhoorn]

What about designing an ONE DataItem like the rbs?.

could be:

double[3] translation_velocity;
double[3] position;

double[3] rotation_velocity;
double[3] target_orientation;

this should cover all cases... (setting nan/inf simliar to the rbs)

Otherwise we should move all types to specialized classes like 
RoverCommands, WaterVehicleCommands etc...
I'm against real System specific commands, i vote for generic vehicle 
topic based packages, that should be part of rock (but not of base).

Matthias


Am 29.05.2012 17:33, schrieb Jakob Schwendner:
> On 05/29/2012 05:22 PM, Leif Christensen wrote:
>> On 29.05.2012 17:10, Matthias Goldhoorn wrote:
>>> I also need an ASV Motion Command like:
>>>
>>> double translation[2];
>>> double heading;
>>>
>>> We should discuss about generalize "motion commands"
>>>
>>>
>>> Matthias
>>>
>>> On 29.05.2012 16:58, Jakob Schwendner wrote:
>>>> On 05/29/2012 04:44 PM, Felix Rehrmann wrote:
>>>>> Hello,
>>>>>
>>>>> I would like to add a type CopterCommand to base/types.
>>>>> It is to give commands to flying machines and will have 3 axis commands
>>>>> and one thrust command:
>>>>>
>>>>> struct CopterCommand {
>>>>>          double axis_command[3];
>>>>>          double thrust;
>>>>> };
>>>>>
>>>>> The value range would be from -1.0 to 1.0 for the axes and from 0.0 to
>>>>> 1.0 for the thrust. Any opinions?
>>>>>
>>>> seems very system specific to me. Any reason this couldn't be defined in
>>>> the module that requires it?
>>>>
>>>> Jakob
>> I think I would not try to generalize motion commands at all, because of
>> the wide range of inputs even for vehicles of similar classes. Think for
>> example of all the different possible inputs for a quite narrow
>> specified class of planar ackerman vehicles. Specifying such classes +
>> deriving from them seems more work to me than directly define it in the
>> vehicle specific modules.
> +1 even the ones that are currently there could probably go into vehicle
> class specific modules.
>


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