Re: Orocos program
Peter Soetens <[email protected]>
| Newsgroups | gmane.science.robotics.orocos.user |
|---|---|
| Organization | KU Leuven |
| Message-ID | <[email protected]> |
On Wednesday 05 May 2004 14:20, Andrea Consonni wrote: > > Why only do you support up to three parameters? We are interested in (for > now) controlling in joint space, so we would want to pass six parameters > (six joint positions). The parser in itself accomodates for an 'unlimited' number of parameters. It are the command and datasource factories that must allow multiple arguments. A last quick look at the repository revealed the current status : commands (+termination conditions) : support 0 to 3 arguments datasource: support 0 to 1 arguments Adding support for N arguments requires linear coding time (you can skip the <N argument support). So it would not be hard to add support for 6 or 12 arguments. We however solved it by introducing extra datatypes in the parser. frame, vector and rotation are an example of that. I am not sure if that is a good solution for your case, the scripting language was never intended to create 'real' programs as in C or C++. BTW you probably want to specify 7 parameters to add a time or velocity argument. If you could provide more details about what your program script should do, I'll be happy to see how it fits in Orocos. with kind regards, Peter -- ------------------------------------------------------------------------ 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] B-3001 Leuven Belgium http://www.mech.kuleuven.ac.be/pma ------------------------------------------------------------------------