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corlab / rst-rt

Real-time Robot Control Types
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"Forces" name missleading #8

Closed ndehio closed 7 years ago

ndehio commented 7 years ago

It seems, that the realtime-type "Forces" comprises a single, three-dimensional force only. In comparison, the realtime-type "JointTorques" comprises a vector of torques.

This naming leads to misunderstanding. I suggest to either rename "Forces" to "Force" to make clear that this type comprises a single force (in three-dimensional space) or to reimplement this type such that it contains a vector of (three-dimensional) forces.

ndehio commented 7 years ago

Similar holds for the type "Torques" which represents a single three-dimensional torque instead of a vector of Torques.

xwavex commented 7 years ago

I agree that it could be misleading in some cases, but since we want to mirror the existing RST types, it is conform w.r.t. RST, e.g. http://docs.cor-lab.org/rst-manual/trunk/html/generated/stable/package-rst-dynamics.html?highlight=torques#rst.dynamics.Torques

xwavex commented 7 years ago

Given the aforementioned reason, I will close this issue. It might be reopened if either RST-RT is not mirroring RST anymore or the particular types are changed in RST itself.