[Rock-dev] New JointState / Joints representation type

[Sylvain Joyeux]

Seems like a fair point ... However this assumes that you accumulate in 
radians. One can also accumulate internally to the driver in ticks and 
then do the convertions in radians:

#include <iostream>
#include <stdint.h>

int main(void)
{
     uint64_t ticks = 0;
     double d = 0;
     float f = 0;

     uint64_t offset = 1215;

     const size_t mi = 100000;
     for(int i=0; i<mi; i++)
     {
         d = ticks / 124.0;
         uint64_t d_ticks = d * 124;
         f = ticks / 124.0f;
         uint64_t f_ticks = f * 124;

         if( i % (mi/10) == 0 )
             std::cout << d << " " << (d - f) << " " << f_ticks - ticks 
<< ": " << (d_ticks - ticks) << std::endl;
         ticks += offset;
     }
}

Which gives (the last two numbers are errors in ticks when position gets 
re-converted into ticks)

0 0 0: 0
9758.06 6.3004e-05 0: 0
19516.1 0.000126008 0: 0
29274.2 0.000189012 0: 0
39032.3 0.000252016 0: 0
48790.3 -0.0016381 0: 0
58548.4 0.000378024 0: 0
68306.5 -0.0015121 0: 0
78064.5 0.000504032 0: 0
87822.6 0.00252016 0: 0
-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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