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

[Sylvain Joyeux]

On 02/19/2013 01:16 PM, Janosch Machowinski wrote:
> 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>.
Isn't that a dynamic data structure ?

I am personally fine with having a "description" of the chain on the one 
hand and a "status" on the other, related to the way you do here. This 
is also how KDL works (you describe the kinematic chain on one hand and 
give joint readings on the other).

> In general I am not too happy with the encoder type. It would be nice to
> have distinct absolute/incremental encoders.
I don't really see the need for distinction in the first place, actually.

-- 
Sylvain Joyeux (Dr.Ing.)
Senior Researcher

Space & Security Robotics
Underwater Robotics

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