Platform Controller should be NJointController not JointController
From discussion with @dreher @weiner Current Architecture:
- A JointController should have a one-to-one relationship with a hardware controllable device
- A Platform has multiple wheels that are controlled, therefore the controllers should be NJointControllers
- If a higher level controller wants to do whole body control, it should use a ready-to-use library that uses the single JointControllers to do platform control
Ideally:
- There should be another level between JointControllers and NJointControllers for usecases like this
- maybe
AtomicController
- maybe
Edited by Christoph Pohl