It would be useful to have a command and payload for motion planning parameters, such as the following:
- acceleration
- velocity
- deceleration
The command name could be motion_params_j, and it could be used to get and set these values (get_motion_params_j and set_motion_params_j). Currently, these parameters (and others) are included in classes such as prmPositionJointSet, which enables a "stateless" design of the robot (i.e., every motion command could specify these parameters). On the other hand, many controllers (e.g., Galil, Copley) maintain a motion planning state, with commands to get/set speed, accel and decel, so it may be more natural to adopt this approach in some cases. Note that if these files are moved to another class, say prmMotionPlanning, that class could be included as an optional member of an existing class such as prmPositionJointSet.
It would be useful to have a command and payload for motion planning parameters, such as the following:
The command name could be
motion_params_j, and it could be used to get and set these values (get_motion_params_jandset_motion_params_j). Currently, these parameters (and others) are included in classes such asprmPositionJointSet, which enables a "stateless" design of the robot (i.e., every motion command could specify these parameters). On the other hand, many controllers (e.g., Galil, Copley) maintain a motion planning state, with commands to get/set speed, accel and decel, so it may be more natural to adopt this approach in some cases. Note that if these files are moved to another class, sayprmMotionPlanning, that class could be included as an optional member of an existing class such asprmPositionJointSet.