I personally like to have both separated. Because in my opinion the have different tasks (while related, they are still different).
The transformer is calculating transforms from a graph of transformations. A kinematics component knows how to compute kinematic calculations given different joint types. In my opinion there is no need to make the transformer "understand" the difference between robotic mechanisms. Malte On 19.03.2015 13:53, Sylvain Joyeux wrote: > On Thu, Mar 19, 2015 at 7:13 AM, Malte Wirkus <[email protected]> wrote: >> I think https://github.com/rock-control/control-orogen-robot_frames does >> what you want. > Great! I did not know about that one. > >> Not as feature of the transformer, but creating RBS from >> from joint data by calculating forward kinematics. > What would be your feeling about making it a transformer feature ? > Worth it, or useless ? (Disclaimer: since robot_frames exists, I have > a lot less incentive to do the integration in the transformer anyways > ;-)) > > Sylvain > _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
