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cogimon / rtt-gazebo-robot-sim

RTT-Gazebo base component for different robotic platforms
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Kinematic-Chains Implementation #3

Open EnricoMingo opened 8 years ago

EnricoMingo commented 8 years ago

The actual code uses a "number of DOFs" vector for all the internal data structures. We need to encapsulate these in the concept of kinematic chain.

xwavex commented 8 years ago

depends on https://github.com/corlab/cogimon-architecture/issues/1

xwavex commented 8 years ago

we also need to implement the dynamic configuration of the ports. see #1

xwavex commented 8 years ago

So what do you think about that draft for the kinematic chain representation. Do you feel that there is something missing? (https://github.com/cogimon/rtt-gazebo-robot-sim/commit/2e314f616b796d60532dc5a35d676c7add49c18c)

Perhaps we should also change the std::string that we are using for the control modes currently into something like an enum again? Because actually I am not so fond of using strings in this case.