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roboticslab-uc3m / yarp-devices

A place for YARP devices
https://robots.uc3m.es/yarp-devices/
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Implement IPositionDirect::getRefPosition(s) #204

Closed PeterBowman closed 5 years ago

PeterBowman commented 5 years ago

Default-implemented on the YARP side (all the three methods return false), unimplemented yet in our CAN devices. I need these for kin-dyn. See docs, available in v2.3.70 (and below).

PeterBowman commented 5 years ago

Lowering priority per https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/173#issuecomment-471514383.

PeterBowman commented 5 years ago

Blocked by https://github.com/roboticslab-uc3m/yarp-devices/issues/198, boils down to querying the 201Ch object (External On-Line Reference, see section 13.2.1).

PeterBowman commented 5 years ago

Blocked by #198, boils down to querying the 201Ch object (External On-Line Reference, see section 13.2.1).

Yet another approach: https://github.com/roboticslab-uc3m/yarp-devices/pull/220. The new LinearInterpolationBuffer class stores two points: the last that was received and the last that was sent. Now, I need to retrieve the latter in order to implement getRefPosition(s).

PeterBowman commented 5 years ago

Done at https://github.com/roboticslab-uc3m/yarp-devices/commit/11c792c464b0cfb31d8008681867d4c43f766b7d.