[Rock-dev] New JointState / Joints representation type

[Janosch Machowinski]

Hi,
sorry for the late response.
I am missing the possibility to represent
joints with multiple positions. (E.g. Asguard / Spaceclimber joint)

Also I wonder why everything is a float, I thought we
agreed on using double...

I would also like to add some sort of JointDescription, that
offers information about the working space, max speed
or other information about the joint.

For the Position field, I would more like the suggestion from
Matthias, to use base::Angles in combination with a turn
counter.
Greetings
     Janosch

Am 30.05.2013 16:24, schrieb Sylvain Joyeux:
> Following the discussions a month or two back, and after a discussion 
> between some DFKI people to cross-reference between what is done in 
> ROS as well as our various needs, we settled on a type design to 
> represent the state of joints, for both control and status purposes.
>
> The resulting types are:
>   base::JointState - representation of a single joint state
> http://gitorious.org/rock-base/types/blobs/joint_state/base/JointState.hpp
>   base::samples::Joints - representation of a set of joints
> http://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp 
> <https://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp>
>   base::commands::Joints - representation of the command of a set of 
> joints
> http://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp 
> <https://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp>
>
> These are currently available on the joint_state branch of the 
> following packages: base/types, base/orogen/types, base/types_ruby.
>
> Moreover, a simple IR filter that converts position into speeds has 
> been added in control/motor_controller 
> (motor_controller::IRSpeedFromPositionFilter), onto a joint_state 
> branch as well. The PIDTask from control/orogen/motor_controller has 
> also been adapted (joint_state branch)
>
> Please comment / (constructively) criticize. It is important that we 
> get this one right.
>
> To get all of those, add the following to the overrides: section of 
> your autoproj/overrides.yml:
>   - base/types:
>     branch: joint_state
>   - base/orogen/types:
>     branch: joint_state
>   - base/types_ruby:
>     branch: joint_state
>   - control/motor_controller:
>     branch: joint_state
>   - control/orogen/motor_controller:
>     branch: joint_state
> -- 
> Sylvain Joyeux (Dr.Ing.)
> Senior Researcher
>
> Space & Security Robotics
> Underwater Robotics
>
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