The directory /opt/www/bruyninckxh2/web/tmp/drutex-04ad12601e4f770f058cddc0ce673b00-1 has been created.

[Bug 363] New: VelocityRobot class

For more information about this bug, visit
A new bug was added:
Summary: VelocityRobot class
Product: OCL
Version: trunk
Platform: All
OS/Version: All
Status: NEW
Severity: enhancement
Priority: P2
Component: Hardware
AssignedTo: orocos-dev [..] ...
ReportedBy: wim [dot] meeussen [..] ...

In our lab we use many different industrial robot manipulators: the Kuka160,
the Kuka361, the CRS and in the near future also a Staubli. They all had their
own implementation of a TaskContext. I now extracted the common parts of all
these implementations in a VelocityRobot base class. This base class provides
all methods/commands/ports to start/stop/lock/unlock/drive axes, etc. The
specific implemenation for each robot now only contains the specifics to access
the hardware of the robot.

I also modified the TaskContext a little: a robot now has one port with all its
drive values, instead of many ports with one drivevalue each.

I'll submit the pacth for this, but won't commit until the end of May, since
this patch would interfear too much with the thesises of our master students.

Wim

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit

wim [dot] meeussen [..] ... changed:

What |Removed |Added
---------------------------------------------------------------------------
Resolution| |LATER
Status|NEW |RESOLVED

------- Comment #9 from wim [dot] meeussen [..] ... 2007-05-14 10:45

Needs more research first.

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #8 from wim [dot] meeussen [..] ... 2007-03-28 15:37

> Next time you propose new files, use this from your/an 'svn' working directory:
> $ svn diff > new_component.patch

Somehow I expected a comment like this ;-) I attached the separate files
because they changed so much compared to the original files, that a diff would
not be very readable. We should submit a bugreport to Bugzilla-dev, to allow
multiple file attachments in one comment.

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #7 from peter [dot] soetens [..] ... 2007-03-28 15:13

(In reply to comment #6)
> Created an attachment (id=99)
--> (http://www.fmtc.be/orocos-bugzilla/attachment.cgi?id=99&action=view) [details]
> Kuka361nAxesVelocityController.cpp
>

Next time you propose new files, use this from your/an 'svn' working directory:

$ svn add *.hpp *.cpp
$ svn diff > new_component.patch

and attach new_component.patch to the bug instead of all individual files.

Peter

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #4 from wim [dot] meeussen [..] ... 2007-03-28 14:13

Created an attachment (id=97)
--> (http://www.fmtc.be/orocos-bugzilla/attachment.cgi?id=97&action=view)
Kuka160nAxesVelocityController.cpp

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #6 from wim [dot] meeussen [..] ... 2007-03-28 14:14

Created an attachment (id=99)
--> (http://www.fmtc.be/orocos-bugzilla/attachment.cgi?id=99&action=view)
Kuka361nAxesVelocityController.cpp

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #2 from wim [dot] meeussen [..] ... 2007-03-28 14:13

Created an attachment (id=95)
--> (http://www.fmtc.be/orocos-bugzilla/attachment.cgi?id=95&action=view)
VelocityRobot.cpp

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #5 from wim [dot] meeussen [..] ... 2007-03-28 14:14

Created an attachment (id=98)
--> (http://www.fmtc.be/orocos-bugzilla/attachment.cgi?id=98&action=view)
Kuka361nAxesVelocityController.hpp

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #3 from wim [dot] meeussen [..] ... 2007-03-28 14:13

Created an attachment (id=96)
--> (http://www.fmtc.be/orocos-bugzilla/attachment.cgi?id=96&action=view)
Kuka160nAxesVelocityController.hpp

wmeeusse's picture

[Bug 363] VelocityRobot class

For more information about this bug, visit
A comment was added:
------- Comment #1 from wim [dot] meeussen [..] ... 2007-03-28 14:12

Created an attachment (id=94)
--> (http://www.fmtc.be/orocos-bugzilla/attachment.cgi?id=94&action=view)
VelocityRobot.hpp