[Playerstage-developers] interface changes, plus new interfaces

[Brian G. <ge...@ai...>]

hi everybody,

Following up on the recent talk about standardizing units, I've just
applied a patch from Brad (thanks!) that changes the units in the
position3d interface to mm/mrad.  The position interface hasn't been
changed yet, because of the other changes that will be required.  In the
interim, there's a new position2d interface that uses the now-standard
units.

Anything on the server side that uses position3d (e.g., Gazebo, segwayrmp)
needs to be changed to use the new units.

There's also a new motor interface, which provides control of a single
motor, and a spec for sending commands to a dio device.  I've appended
Brad's note below.

        brian.

-- 
Brian P. Gerkey                    ge...@ai...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey

---------- Forwarded message ----------
Date: Thu, 22 Jul 2004 17:43:39 +0200
From: kra...@ir...
To: ge...@ai...
Subject: RE: new interfaces & bigmess

Hello,

Here is the patch I worked on with the new interface (motor, position2d)
and the angular conversions.  I didn't change the position interface,
but instead created the position2d one, so we wouldn't break everything.

I changed the client libraries in c & c++.  Please let me know if you
have any questions.

I also slipped in a digital output command for the digital io interface.