[Rock-dev] Force/Torque data

[Steffen Planthaber]

Hi,

This discussion was held some time ago.

I'm currently working on providing 6DOF FT values from the simulation in 
rock and would like to use the wrench type for this.

As there were no points agains it left, can we finally push it to 
master, or is more discussion needed here?


Best,

Steffen

Am 22.11.2013 14:04, schrieb 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
>>
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>
>


-- 
  Steffen Planthaber
  Weltraumrobotik

  Besuchsadresse der Nebengeschäftstelle:
  DFKI GmbH
  Robotics Innovation Center
  Robert-Hooke-Straße 5
  28359 Bremen, Germany

  Postadresse der Hauptgeschäftsstelle Standort Bremen:
  DFKI GmbH
  Robotics Innovation Center
  Robert-Hooke-Straße 1
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-4125
  Zentrale: +49 421 178 45-0
  Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
  E-Mail:   Steffen.Planthaber 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
  -----------------------------------------------------------------------