Feature #1787
Add type for Cartesian velocities and accelerations
| Status: | Resolved | Start date: | 03/03/2014 | |
|---|---|---|---|---|
| Priority: | Normal | Due date: | ||
| Assignee: | J. Wienke | % Done: | 100% | |
| Category: | Type Proposal | |||
| Target version: | Robotics Service Bus - rsb-0.11 |
Description
Similar to source:proto/stable/rst/geometry/Pose.proto we should introduce types for velocity and acceleration in Cartesian space.
Related issues
Associated revisions
Twist type for spatial velocities
Added a type Twist following the screw theory to describe spatial
velocities as translatory and angular components.
refs #1787
Added type SpatialAccelerations
A type for describing spatial accelerations along the ideas of screw
theory with angular and translatory parts.
fixes #1787
History
#1 Updated by J. Wienke about 10 years ago
We would also like to have such a type for mobile robot navigation.
#2 Updated by J. Wienke about 10 years ago
- Status changed from New to In Progress
- Assignee set to J. Wienke
#3 Updated by Anonymous about 10 years ago
- https://code.cor-lab.org/projects/rci/repository/entry/trunk/rci/src/rci/dto/CartesianVelocity.h
- https://code.cor-lab.org/projects/rci/repository/entry/trunk/rci/src/rci/dto/CartesianAcceleration.h
I am no longer sure, however, if quaternions work for rotational velocity and acceleration (cf lengthy discussion on a similar matter #1715 regarding torques in cartesian space). This needs to be checked!
#4 Updated by J. Wienke about 10 years ago
- ROS only has a type for velocities and they use euler angles for rotational velocities: http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html
#5 Updated by J. Wienke about 10 years ago
Further observation @arne: You only forward-declared RotationalAcceleration but never implemented it ;)
#6 Updated by J. Wienke about 10 years ago
- File 0001-Twist-type-for-spatial-velocities.patch
added - File 0002-Added-type-SpatialAccelerations.patch added
We propose the types attached as patches. The types follow the existing conventions of the rst.dynamics package by using screw theory for representation.
It would be good if others could also review these types since decisions are not that easy in this case.
#7 Updated by J. Wienke about 10 years ago
- % Done changed from 0 to 50
#8 Updated by J. Wienke about 10 years ago
- Status changed from In Progress to Resolved
- % Done changed from 50 to 100
Applied in changeset rst-proto|commit:9bf364da7f262a213d079387893e9cc066cec7d0.
#9 Updated by Anonymous almost 10 years ago
- Related to Tasks #1913: Move dynamics types to rst.dynamics package added
#10 Updated by J. Wienke almost 9 years ago
- Category changed from protocol to Type Proposal
- Target version changed from rsb-0.12 to rsb-0.11