[Rock-dev] Force/Torque data

[Dennis Mronga]

Would be ok for me to remove it. Actually I just adopted the use of 
frame information from the example of the RigidBodyState type.

On 22.11.2013 11:51, Jakob Schwendner wrote:
> 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;
>
>
> --
>    Dipl.-Ing. Dennis Mronga
>    Researcher
>
>    Hauptgeschäftsstelle Standort Bremen:
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-- 
  Dipl.-Ing. Dennis Mronga
  Researcher

  Hauptgeschäftsstelle Standort Bremen:
  DFKI GmbH
  Robotics Innovation Center
  Robert-Hooke-Straße 5
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-6560
  Zentrale: +49 421 178 45-4100
  Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
  E-Mail:   dennis.mronga at dfki.de

  Weitere Informationen: http://www.dfki.de/robotik
  -----------------------------------------------------------------------
  Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
  Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
  Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
  (Vorsitzender) Dr. Walter Olthoff
  Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
  Amtsgericht Kaiserslautern, HRB 2313
  Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
  USt-Id.Nr.:    DE 148646973
  Steuernummer:  19/673/0060/3
  -----------------------------------------------------------------------