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Hi Sankar,
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why do you need the frame_id and the goal_id? Otherwise you could just use base::Joints and RigidBodyState.
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cheers,
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Jakob
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<br/>On September 15, 2013 at 6:44 PM Sankaranarayanan Natarajan <sankaranarayanan.natarajan@dfki.de> wrote:
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Hi Guys,
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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...
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namespace base
<br/>{
<br/>        namespace motionplanner
<br/>        {
<br/>                enum result
<br/>                {
<br/>                        SUCCESSFUL              =  0,  
<br/>                        PLANNER_FAILED          = -1,
<br/>                        COLLISION_DETECTED      = -2,
<br/>                        IK_FAILED               = -3,
<br/>                        PATH_TOLERANCE_VIOLATED = -4,
<br/>                        GOAL_TOLERANCE_VIOLATED = -5
<br/>                };
<br/>
<br/>                struct Pose
<br/>                {
<br/>                        base::Time time;
<br/>                        std::string frame_id;   // the pose is defined w.r.t this frame
<br/>                        std::string goal_id;    // unique id for a task
<br/>                        base::Pose targetpose;
<br/>                };
<br/>
<br/>                struct JointAngle
<br/>                {    
<br/>                        base::Time time;
<br/>                        std::string frame_id;   // the pose is defined w.r.t this frame
<br/>                        std::string goal_id;    // unique id for a task
<br/>                        base::samples::Joints joints;
<br/>                };    
<br/>
<br/>    }   
<br/>}
<br/>
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Regards
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-Sankar
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</blockquote>
<br/> 
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--
<br/>Jakob Schwendner, M.Sc.
<br/>Researcher
<br/>
<br/>DFKI Bremen
<br/>Robotics Innovation Center
<br/>Robert-Hooke-Straße 5
<br/>28359 Bremen, Germany
<br/>
<br/>Phone: +49 (0)421 17845-4120
<br/>Fax: +49 (0)421 17845-4150
<br/>E-Mail: jakob.schwendner@dfki.de
<br/>
<br/>Weitere Informationen: http://www.dfki.de/robotik
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