Rename DQ_DifferentialDriveRobot to DQ_DifferentialDriveBase?

dqrobotics / matlab

The DQ Robotics library in MATLAB

https://dqrobotics.github.io

GNU Lesser General Public License v3.0

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Rename DQ_DifferentialDriveRobot to DQ_DifferentialDriveBase? #24

Closed mmmarinho closed 5 years ago

mmmarinho commented 5 years ago

Hello, @bvadorno,

Context I was checking DQ_DifferentialDriveRobot and I noticed that its name contrasts with its parent classes:

DQ_MobileBase
DQ_HolonomicBase

Question

Is there any specific reason why this one became Robot instead of Base?

Kind regards, Murilo

bvadorno commented 5 years ago

Hi, Murilo.

There is a reason, although very subtle. 'Mobile robot' is a very broad class of robots, which encompasses mobile bases, legged robots, etc., although it is common to use 'mobile robot' as a synonym of 'mobile base'. The same applies to 'holonomic robot'; for instance, a serial manipulator is a holonomic robot but with a fixed base! Therefore, I first decided to stick with DQ_MobileBase and DQ_HolonomicBase to be more precise. The name 'differential-drive robot', on the other hand, is unambiguous because it makes sense, AFAIK, only for mobile bases. Plus, the name 'differential-drive base' is very uncommon; this is why I chose the former.

Cheers, Bruno