Hi, Am 15.01.2015 um 12:08 schrieb Matthias Goldhoorn: > This was a discussion some time ago, in the past it was disagreed > because we don't want to change the datatype as i remember.
We on this list decided that the timestamp when the command is executed is the important timestamp for robot control, not the time when the command was created and sent. As a result I created a timestamped version of commands::Motion2D as samples::Motion2D, as we needed this time to predict the robot (sensor) behavior while executing the command. There is a template-based implementation of samples::Motion2D in https://github.com/rock-core/base-types/blob/master/base/samples/CommandSamples.hpp Implementing a new command sample (with timestamp) is quite quick, just add the class to the header above: namespace base{ namespace samples { class Motion2D : public TimeStamped< commands::Motion2D >{}; } } btw: it must be a class not a typedef, otherwise orogen will fail (last time i tried). In the class you also can add constructors to convert between the command sample and the non-timestamped version, e.g. samples::Motion2D has a constructor from commands::Motion2D which allows writing the command directly to the sample output port. Best, Steffen > > But i would feel more comfortbale with a timefield so > > +1 > > Matthias > > On 15.01.2015 11:34, Jakob Schwendner wrote: >> Hey, >> >> I noticed that all commands in base/types don't have a time field (e.g. >> Motion2D). I would vote for having one there, too. >> What do you think? >> >> Cheers, >> >> Jakob >> >> >> _______________________________________________ >> Rock-dev mailing list >> [email protected] >> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev > > -- Steffen Planthaber Weltraumrobotik Besuchsadresse der Nebengeschäftstelle: DFKI GmbH Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Postadresse der Hauptgeschäftsstelle Standort Bremen: DFKI GmbH Robotics Innovation Center Robert-Hooke-Straße 1 28359 Bremen, Germany Tel.: +49 421 178 45-4125 Zentrale: +49 421 178 45-0 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
