[Rock-dev] RFC: feed joint data to the transformer

[Janosch Machowinski]

Am 19.03.2015 um 14:00 schrieb Malte Wirkus:
> I personally like to have both separated. Because in my opinion the have
> different tasks (while related, they are still different).
+1
>
> The transformer is calculating transforms from a graph of
> transformations. A kinematics component knows how to compute kinematic
> calculations given different joint types.
> In my opinion there is no need to make the transformer "understand" the
> difference between robotic mechanisms.
+1
> Malte
>
> On 19.03.2015 13:53, Sylvain Joyeux wrote:
>> On Thu, Mar 19, 2015 at 7:13 AM, Malte Wirkus <malte.wirkus at dfki.de> wrote:
>>> I think https://github.com/rock-control/control-orogen-robot_frames does
>>> what you want.
>> Great! I did not know about that one.
>>
>>> Not as feature of the transformer, but creating RBS from
>>> from joint data by calculating forward kinematics.
>> What would be your feeling about making it a transformer feature ?
>> Worth it, or useless ? (Disclaimer: since robot_frames exists, I have
>> a lot less incentive to do the integration in the transformer anyways
>> ;-))
>>
>> Sylvain
>>
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  Dipl. Inf. Janosch Machowinski
  SAR- & Sicherheitsrobotik

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