[Rock-dev] New JointState / Joints representation type

[Sylvain Joyeux]

Following the discussions a month or two back, and after a discussion
between some DFKI people to cross-reference between what is done in ROS
as well as our various needs, we settled on a type design to represent
the state of joints, for both control and status purposes.

The resulting types are:
  base::JointState - representation of a single joint state
  http://gitorious.org/rock-base/types/blobs/joint_state/base/JointState.hpp
  base::samples::Joints - representation of a set of joints
 
http://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp
<https://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp>
  base::commands::Joints - representation of the command of a set of joints
 
http://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp
<https://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp>

These are currently available on the joint_state branch of the following
packages: base/types, base/orogen/types, base/types_ruby.

Moreover, a simple IR filter that converts position into speeds has been
added in control/motor_controller
(motor_controller::IRSpeedFromPositionFilter), onto a joint_state branch
as well. The PIDTask from control/orogen/motor_controller has also been
adapted (joint_state branch)

Please comment / (constructively) criticize. It is important that we get
this one right.

To get all of those, add the following to the overrides: section of your
autoproj/overrides.yml:
  - base/types:
    branch: joint_state
  - base/orogen/types:
    branch: joint_state
  - base/types_ruby:
    branch: joint_state
  - control/motor_controller:
    branch: joint_state
  - control/orogen/motor_controller:
    branch: joint_state

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

Space & Security Robotics
Underwater Robotics

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