Re: Suggestion for Version 1.0 motion application API...

> [...]
> A Path is a sequence of ViaPoints; 

Isn't this a quite restricted definition? To me, a Path is more like a
trajectory, e.g. a sinusoid, which specifies the relation between time
and position.

> Instead of "ViaPoint", we could also have used the name "Frame", but this
> latter name is too much coupled to Cartesian space; indeed, a ViaPoint can
> also consists of joint space information!  The information in a ViaPoint
> is: position (and orientation in Cartesian space), and possibly higher
> order information such as velocities and accelerations.  Note the
> "possibly" in the sentence above: a ViaPoint with only position and
> orientation is a less specialized object than a ViaPoint that also includes
> velocities; a ViaPoint can also encode _sensor-based_ specifications, such
> as the desired force in a contact, or the desired distance from an
> obstacle, etc., ...

If I understand this well, a ViaPoint is the point you want to reach
exactly, sometimes called the Precision Point. Does your definition 
also include fly-by points, i.e. point you want to approach with a
certain velocity or within a certain tolerance?


Walter