Re: FK and Jacobian calculation in RTT
S Roderick <[email protected]> Mon, 20 Jan 2014 06:49:44 -0500
| Newsgroups | gmane.science.robotics.orocos.devel |
|---|---|
| Message-ID | <[email protected]> |
On Jan 20, 2014, at 04:51 , Sylvain Joyeux <[email protected]> wrote: > On Sunday, January 19, 2014 07:58:29 PM Herman Bruyninckx wrote: >> RTT components are meant to put several functions (like KLD dynamics >> functions!) inside one and the same "process"/"thread"/"activity. It does >> not make sense to put individual KDL functions each in their own RTT >> component! > Why not? > > If the function is indeed costly *and* is reused (IK comes to mind), why > putting it in a single RTT component would be "bad" ? Agreed. It's comes down to the context of the system and the algorithms employed, rather than some generic set of rules that must apply. S -- Orocos-Dev mailing list [email protected] http://lists.mech.kuleuven.be/mailman/listinfo/orocos-dev