Again and again and again ActuatorStatus is Depricated
On 16.01.2014 16:07, Javier Hidalgo Carrió wrote: > 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. > > > _______________________________________________ > Rock-dev mailing list > [email protected] > http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev -- Dipl.-Inf. Matthias Goldhoorn Space and Underwater Robotic Universität Bremen FB 3 - Mathematik und Informatik AG Robotik Robert-Hooke-Straße 1 28359 Bremen, Germany Zentrale: +49 421 178 45-6611 Besuchsadresse der Nebengeschäftstelle: Robert-Hooke-Straße 5 28359 Bremen, Germany Tel.: +49 421 178 45-4193 Empfang: +49 421 178 45-6600 Fax: +49 421 178 45-4150 E-Mail: [email protected] Weitere Informationen: http://www.informatik.uni-bremen.de/robotik _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
