On 22.11.2013 10:42, Sylvain Joyeux wrote: > On 11/22/2013 08:59 AM, Jakob Schwendner wrote: >> To use internally, or as an interface type? As an interface type. Internally I would use the KDL type anyways. That's why I am asking if it is useful to define an additional Rock type...
>> As far as I can see, there is only the effort field in the joints. >> Defining a wrench in base, equivalent to the kdl type seems to be feasible. > There is a RigidBodyAcceleration type ... However we should probably > rename the type to e.g. Wrench ? A wrench type would look different than RigidBodyAcceleration. I would suggest something like base::Time time; std::string refFrame; base::Vector3d force; base::Vector3d torque; > -- Dipl.-Ing. Dennis Mronga Researcher Hauptgeschäftsstelle Standort Bremen: DFKI GmbH Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Tel.: +49 421 178 45-6560 Zentrale: +49 421 178 45-4100 Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen) E-Mail: [email protected] Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3 ----------------------------------------------------------------------- _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
