JointName Proposal

[xwavex]

Proposed API calls

setForce(joint_names[i], torque[i]);

joints[joint_names[i]]->setForce(torque[i]);

Requirements:

• Iterating over a list of joint names and fitting it in a specific format to another library
• Know the format of the vector you get from the simulation
• Format of vector should be defined in preface based on SRDF
• Address the vector with the joint names in case of using Gazebo's API
• Use a common IF in the robot simulation components as well as in the view components
• Minimum configuration overhead in .ops
• Take care that only valid joints can be addressed in certain scopes (perhaps retrieve joints depending on the "used" kinematic chain?)

[xwavex]

Read specific std::vector<std::string> from SRDF for a particular kinematic chain. The order in this case specifies the associated index.

I guess there is no need to include the joint names in a particular data type...

[xwavex]

TODO provide sequence diagram with interface definition