[Rock-dev] Replacement for base::actuators::MotorState

[Janosch Machowinski]

Hi,
I would like to propose a replacement for base the MotorState
structure as it is clearly 'Asguardish'. The idea behind the new
structures is that it should work for any of out actuators.

     struct Encoder
     {
     public:
         ///determines weather this is an absolut
         ///or incremental reading
         bool absolut;

         ///Position in radians
         double position;

         ///Speed in radians per second
         double speed;
     };

     struct ActuatorState
     {
     public:
         ///Time of the State
         base::Time time;

         ///The amount of current in A
         ///consumed by the actuator
         float actuatorCurrent;

         ///Torque in Nm applied by the acutator
         double actuatorTorque;

         ///Encoder at the motor shaft
         Encoder motorShaftEncoder;

         ///Encoder at the output side
         ///e.g. behind the gearbox
         Encoder ouputSideEncoder;

         ///Current pwm applied to the actuator
         ///range [-1, 1]
         float pwm;

         ///temperature of the actuator in °C
         float actuatorTemperature;

         ///temperature of the motor driver pcb in °C
         float motorDriverTemperature;
     };

     struct ActuatorStateSet
     {
     public:
         std::vector<ActuatorState> states;
     };

Any remarks ?
     Janosch

-- 
  Dipl. Inf. Janosch Machowinski
  SAR- & Sicherheitsrobotik

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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  28359 Bremen, Germany

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  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik