[Rock-dev] Force/Torque data

[Jakob Schwendner]

Seems reasonable. The only discussion point would be the refFrame I guess. I
think sylvain took some issue with having the frame names in the types for
the rigidBodyState as well, so the question would be if we should try to
avoid this for future types. The argumentation is that the frame the type is
referenced with is set by the configuration, and each data connection only
holds the values for a single frame.

Cheers,

Jakob

-----Original Message-----
From: Dennis Mronga [mailto:dennis.mronga at dfki.de] 
Sent: Freitag, 22. November 2013 11:07
To: Sylvain Joyeux; Jakob Schwendner; rock-dev at dfki.de
Subject: Re: [Rock-dev] Force/Torque data

On 22.11.2013 10:42, Sylvain Joyeux wrote:
> On 11/22/2013 08:59 AM, Jakob Schwendner wrote:
>> To use internally, or as an interface type?
As an interface type. Internally I would use the KDL type anyways. 
That's why I am asking if it is useful to define an additional Rock type...

>> As far as I can see, there is only the effort field in the joints.
>> Defining a wrench in base, equivalent to the kdl type seems to be
feasible.
> There is a RigidBodyAcceleration type ... However we should probably 
> rename the type to e.g. Wrench ?
A wrench type would look different than RigidBodyAcceleration. I would
suggest something like

base::Time time;
std::string refFrame;
base::Vector3d force;
base::Vector3d torque;

>


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