[Rock-dev] ActuatorStatus range of positionExtern

[Javier Hidalgo Carrió]

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.