Re: KinematicsInterface

On Fri, 9 Apr 2004, Martin [iso-8859-1] LÃŒmkemann wrote:

> We are currently implementing the kinematics-inteface for a Mitsubishi PA-10
> which is a 7R(zxzxzxz)-arm.
Nice :-)

> 
> The KinematicsInterface only allows a Double6D for the joint-variables.
> For now we omit the last joint in our calculations, but wouldn't it be
> necessary to parametrise the interface on the number of joints?
> 
> e.g.: template<unsigned NumberOfJoints> class KinematicsInterface{...}
> 
There are various interfaces:
- class interface: for your specific architecture, you will write
  methods that have the 7 joint values as an argument.
  In each "kinematic family" interface, the number of joints would be
  constant.

- component interface: the component could be a "session component"
  that has a state, and that gets the joint values from somewhere else
  than the call to the kinematics.

We still have not discussed enough about this topic and the API has
hence not stabilized. So, be very critical :-)

Herman

-- 
  K.U.Leuven, Mechanical Eng.,  Mechatronics & Robotics Research Group
    <http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480