Re: KinematicsInterface
Peter Soetens <[email protected]>
| Newsgroups | gmane.science.robotics.orocos.user |
|---|---|
| Organization | KU Leuven |
| Message-ID | <[email protected]> |
On Friday 16 April 2004 08:30, Herman Bruyninckx wrote:
> On Wed, 14 Apr 2004, Peter Soetens wrote:
> > Thanks to multiple inheritance, we can combine both.
>
> I also prefer the virtual interface + inheritance approach.
>
> [...]
>
> > class KinematicsNAxisInterface {
> > // pure virtuals with axis nr.
> > virtual bool positionForward( unsigned nbOfJoints, double[] q,
> > ORO_Geometry::Frame& mp_base, Singularity& s ) const =0;
>
> But I do not like the number of joints to be part of the interface,
> nor a "double[]" as argument; I prefer an interface that can be
> strongly type-checked and that has no redundant information for which
> programmers can easily make mistakes.
Well, indeed it is also possible to inherit from both strong typed interfaces.
The wrapper I proposed was more for transitional libraries.
Peter
--
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Peter Soetens, Research Assistent http://www.orocos.org
Katholieke Universiteit Leuven
Division Production Engineering, tel. +32 16 322773
Machine Design and Automation fax. +32 16 322987
Celestijnenlaan 300B [email protected]
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