[Rock-dev] ActuatorStatus range of positionExtern

[Matthias Goldhoorn]

Again and again and again

ActuatorStatus is Depricated



On 16.01.2014 16:07, Javier Hidalgo Carrió wrote:
> On 01/16/2014 03:28 PM, Christian Rauch wrote:
>>
>> Am 16.01.2014 15:11, schrieb Javier Hidalgo Carrió:
>>> On 01/16/2014 03:05 PM, Christian Rauch wrote:
>>>> Hi,
>>>>
>>>> I am using the Skid4Odometry with a real and simulated robot that
>>>> provides /base/actuators/Status.
>>>> Has the value for the positionExtern per motor state to be in the
>>>> range -PI...PI (and therefore has to be summed up within the odometry
>>>> component) or must it be summed up to the total position at the
>>>> component that provides the status (i.e. the real or simulated robot)?
>>> The Skid4Odometry has iMoby inheritance. Therefore positionExtern is NOT
>>> a value between -PI .. PI. It is the summed-up of the total position
>>> since the robot started.
>> Ok, thanks for clarification. I am asking because Aria provides the
>> summed-up positionExtern but the MarsActuator provides the values in
>> the -PI...PI range. I would like to use the Skid4Odometry for both.
>>
>> Is there a rock standard in which range the values should be and
>> therefore how to interpret these values?
> There is an standard for JointState:
>
>           /** Current position of the actuator, in radians for angular
>            * joints, in m for linear ones
>            *
>            * For angular joints that can move more than 360 degrees, this
>            * accumulates the movement since initialization
>            *
>            * If the joint is an angular joint whose motion is constrained
> to less
>            * than one full turn, the value should be in [-PI, PI].
> base::Angle
>            * could be used to manipulate it before setting it in this
> structure
>            *
>            * If the joint is an unconstrained angular joint (e.g. a wheel
> joint),
>            * the range is [-inf, inf]
>            */
>           double position;
>
> But wasn't for the old base/actuators/Status/
>
> Regards,
>
> Javier.
>
>
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  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

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