Seems reasonable. The only discussion point would be the refFrame I guess. I think sylvain took some issue with having the frame names in the types for the rigidBodyState as well, so the question would be if we should try to avoid this for future types. The argumentation is that the frame the type is referenced with is set by the configuration, and each data connection only holds the values for a single frame.
Cheers, Jakob -----Original Message----- From: Dennis Mronga [mailto:[email protected]] Sent: Freitag, 22. November 2013 11:07 To: Sylvain Joyeux; Jakob Schwendner; [email protected] Subject: Re: [Rock-dev] Force/Torque data 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
