[Rock-dev] datatype for motionplanner

[Jakob Schwendner]

Hi Sankar,

why do you need the frame_id and the goal_id? Otherwise you could just use
base::Joints and RigidBodyState.

cheers,

Jakob

On September 15, 2013 at 6:44 PM Sankaranarayanan Natarajan
<sankaranarayanan.natarajan at dfki.de> wrote:

>  Hi Guys,
> 
>  I need some datatypes to handle motionplanner input and ouput. I was thinking
> for atleast for motionplanner input we can use exiting data types by adding
> two lines to the existing datatypes(z.Bb base/Pose) or a new datatype for
> motionplanner.. Anyhow a sample struct i have created...
> 
>  namespace base
>  {
>          namespace motionplanner
>          {
>                  enum result
>                  {
>                          SUCCESSFUL              =  0,
>                          PLANNER_FAILED          = -1,
>                          COLLISION_DETECTED      = -2,
>                          IK_FAILED               = -3,
>                          PATH_TOLERANCE_VIOLATED = -4,
>                          GOAL_TOLERANCE_VIOLATED = -5
>                  };
> 
>                  struct Pose
>                  {
>                          base::Time time;
>                          std::string frame_id;   // the pose is defined w.r.t
> this frame
>                          std::string goal_id;    // unique id for a task
>                          base::Pose targetpose;
>                  };
> 
>                  struct JointAngle
>                  {
>                          base::Time time;
>                          std::string frame_id;   // the pose is defined w.r.t
> this frame
>                          std::string goal_id;    // unique id for a task
>                          base::samples::Joints joints;
>                  };
> 
>      }
>  }
> 
> 
>  Regards
>  -Sankar
> 

--
Jakob Schwendner, M.Sc.
Researcher

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 17845-4120
Fax: +49 (0)421 17845-4150
E-Mail: jakob.schwendner 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
-----------------------------------------------------------------------
-------------- next part --------------
An HTML attachment was scrubbed...
URL: http://www.dfki.de/pipermail/rock-dev/attachments/20130915/d92c3588/attachment.htm