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

[Janosch Machowinski]

On 19.02.2013 14:25, Sylvain Joyeux wrote:
> On 02/19/2013 10:59 AM, Janosch Machowinski wrote:
>> Included remarks from Matthias,
>> turns out we have already a base::Temperature.
>> I did not add constructors yet as this is more about
>> the layout and fields of the types and if the structure
>> would cover all of our use cases.
>>
>>       struct Encoder
>>       {
>>       public:
>>           ///determines weather this is an absolute
>>           ///or incremental reading
>>           bool absolute;
>>
>>           ///Position of the actuator
>>           base::Angle position;
>>
>>           ///Speed in radians per second
>>           double speed;
>>       };
> By the way, why make the distinction between absolute / incremental ? 
> If we standardize (the way we do already) on 
> absolute-since-the-beginning position, you can easily extract the 
> other information from there.
This is more about a calibrated vs an incremental position.
By absolute I mean that the actuator is in an known absolute position.
For an incremental encoder I only know how much it moved since
startup but not how it is positioned...
     Janosch

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

  Universität Bremen
  FB 3 - Mathematik und Informatik
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