Hello
While messing with joints_axes3 branch and implementing requried
functionality and cleaning some interfaces I have design change:
1. create interface (for now in taskintf.cc) to set/get vel/acc
information about joints and axes including
functions getStraightAcceleration() and getStraightVelocity() and
functions to get acc/vel for ARC_FEED().
goals:
- This makes low level variables and functions about acc/vel only
locally in taskintf
- Canon will be more independent of vel/acc stuff
- Jeff Epler told me someday about extentions/changes could be done
to those two functions (make emc more flexible) so that would be place
to make those changes
request for comments
regards,
Michael Geszkiewicz
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