Feature #1714

Provide rci::wrench converter in rst-converters

Added by C. Emmerich over 10 years ago. Updated over 10 years ago.

Status:ResolvedStart date:01/06/2014
Priority:HighDue date:
Assignee:-% Done:


Target version:Robotics Service Bus - rsb-0.11


Please provide a rst-converter for rci::Wrench type

Related issues

Related to Robot Control Interface - Feature #1715: Provide better interface for creation of wrench Resolved 01/06/2014


#1 Updated by Anonymous over 10 years ago

  • Tracker changed from Enhancement to Feature
  • Category set to Software
  • Assignee deleted (Anonymous)
  • Target version set to rsb-0.11

Should be easy to add by yourself to the rst-converters repository (git: /projects/rst/repository/rst-converters).
You could use the PoseConverter as sample, as it basically does the same.

#2 Updated by C. Emmerich over 10 years ago

I don't think so. Since a rci::Wrench is stored as quaternions and a rst.wrench as 3-dim torque, I do not know how to convert between them (on a technical as well as a conceptual level). Maybe you should have a look at #1043, it might be related to this issue.

#3 Updated by C. Emmerich over 10 years ago

  • Status changed from New to Resolved
  • % Done changed from 0 to 100

Since the automatic issue-closing mechansim did not work here, I close this issue manually...

Converter is implemented here

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