Re: [Playerstage-developers] Arms and grippers in player - pose vs position

[Daniel A. <mac...@us...>]

Matthew Johnson wrote:
> I agree with using getPose and setPose.  It also seems that the current
> Position interface could be replaced by this interface.  I would propose
> that we could define a few classes of actuator (similar to the
> separation of 2DPosition and 3Dposition) that cover both mobile bases
> and manipulators.  The classes would cover the different types of robots
> and manipulators.   For example:
> 
> 2DActuator (with x, y, and yaw only) 
> 3DActuator (the whole enchilada)
> 
> I suspect this is not a complete list and there are some other cases we
> would need to address.  I think by reviewing the list of current robots
> used by Player we could have a good start at a complete list.  This
> would also provide the status code that is currently (in my opinion)
> missing in the Position interfaces.

Yup, set/get Pose is definetly more natural then Goto, but we have to be 
careful to not confuse a pose and position. At least to me a pose is a position 
(3D) and orientation (3D) while a position is only a x,y,z tripplet.

/Daniel