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

[Reed H. <re...@ac...>]

Continuing the "relative" position control idea, for the client library:

In PositionProxy, we already have DoRotation and DoStraightLine that are 
used by the REB driver to do basically what I mean by "relative 
position" control (if there's a better name for that, I'll switch to 
that terminology!)

What the REB driver does is use a configuration request to switch 
position and velocity control, and uses the xspeed, yspeed, yawspeed 
values in the command instead of the ypos, xpos, etc., -- that's what it 
looks like from looking at PositionProxy at least.  This makes it tricky 
to re-purpose the DoRotation and DoStraightLine methods for my scheme 
which uses all of the members of the command struct, not just three, 
though it could be done (...by adding a flag in the proxy class for 
whether you called SetPositionMode, which could be deprecated and 
renamed SetREBControlMode or something if we wanted to make that 
configuration request REB-only.  Do any other drivers use that 
configuration request?)

Reed