From: Reed H. <re...@ac...> - 2005-04-15 19:00:20
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Richard vaughan wrote: > It's a while since I used it, but doesn't Stage have position control > mode already? Switch between velocity and position control with a config. I saw two control modes that are in the "type" byte in the command struct: velocity and position control. Position control gives a goal pose in the global coordinate frame. I want to add relative-position control, give an offset in the robot's local frame to move. (e.g. give it 90 degrees it turns one quarter turn no matter what its current orientation) I don't see any switch between velocity or position control in Stage's handling of position config requests though... Would that be a better way to do it, have a config request to change the control method? Reed |