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

[Janosch Machowinski]

On 19.02.2013 11:20, Sylvain Joyeux wrote:
>>
>>           ///Encoder at the motor shaft
>>           Encoder motorShaftEncoder;
>>
>>           ///Encoder at the output side
>>           ///e.g. behind the gearbox
>>           Encoder ouputSideEncoder;
> And what about cases where there are more than two encoders ? This 
> encoder thing was the very reason that we wanted a bigger discussion.
I would prefer to not use a dynamic data structure here. But one thing 
one could do is :

enum ENCOODER_POSITION
{
     POSITION_MOTOR_SHAFT,
     POSITION_OUTPUT_SIDE,
     .
     .
     .
};

and use an std::vector<Encoder>.
In general I am not too happy with the encoder type. It would be nice to
have distinct absolute/incremental encoders.
>
> I would personally prefer splitting the actuator from the encoders and 
> have a way to describe a "chain" of actuators / encoders. KDL was a 
> candidate, at that point, to provide the required data structures.
I don't think that KDL will work for this use case as it is not a chain 
of encoders. We have multiple
encoders measuring (more or less) the same thing. Also there is no 
primitive 'encoder' in KDL.
KDL looks more suited for frame transformation representation.
Greetings
     Janosch


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

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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