RE: [Playerstage-developers] Position control -- C++ client lib

[Kratochvil, B. E. <kra...@ir...>]

> I think "type" should be left as the current position or velocity
> control mode, and that switching between global and local control =
should
> be done through a configuration request.  If you don't do it this way,
> you'll need to change some of the clients to support the different
> types.=20

>Do you say this because of code like this:
>
>if(cmd.type =3D=3D 0)
>{
>	// velocity control...
>} else {
>	// position control...
>}

Yes, that's the way I understood to implement things.  In your case, =
we'd just need a case statement for the additional options.=20

>One of the reasons I'm avoiding configuration requests, is you have to=20
>wait until the config request is recieved by the driver before you can=20
>start sending your commands-- it's slower to switch modes basically.  =
Is=20
>this not true?

Ok.  That makes sense.  My question is though, how would you support =
this from client libraries?  Would you have seperate methods/functions =
for choosing the type and then just set the position and velocity like =
normal?  That seems like it could work for me and not break things too =
badly (or quite possibly at all).

> I came up with the position2d interface as an attempted way to migrate
> from the current position interface to a newer more standardized one.  =
I
> figured it would help keep everything from breaking during the
> transition.=20

>So we could tear out all the stuff in position2d that is "left over"=20
>from the position interface, and re-do it? =20

Well, position2d is currently only used by me (I think) and in its =
current state.  So, it could basically be stripped and redone as a =
"clean" position interface and then everyone could migrate to it when =
they do the next driver upgrade.  I would whole heartedly help support =
this and could help with the development on the C/C++ side of things =
along with incorporating it into the different player utilites.  Are you =
interested in this route?=20

Best regards,

Brad