Would be ok for me to remove it. Actually I just adopted the use of frame information from the example of the RigidBodyState type.
On 22.11.2013 11:51, Jakob Schwendner wrote: > 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 > ----------------------------------------------------------------------- > > -- 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
