[Rock-dev] Hopefully final cleanup of auv_control

[Matthias Goldhoorn]

Hint:

one (german) documentation could be the project reposrt from the project 
itself i send around a few days ago

Best regards,
Matthias

On 12.09.2013 15:13, Sylvain Joyeux wrote:
> I've pushed a proposal to the final_cleanup branch on the repository. 
> The goal of this proposal is to clarify the semantic of each task. In 
> general, I found that understanding exactly which task does what 
> w.r.t. the control domain (position/velocity) and the control frame 
> (worl/aligned/body) was really difficult in the current design. Some 
> tasks were a bit "bastard" in the sense that they did not fit the 
> general control task description (ForceTorqueController). The PID 
> controller handling was duplicated three times, and so on. 


-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
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