From ae0515e4c44b5b5025a5139c7f8c40de89c3de2e Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 4 Mar 2021 15:03:00 +0100
Subject: [PATCH] velocity & header interface change
---
.../components/units/PlatformUnitObserver.cpp | 13 +-
.../units/PlatformUnitSimulation.cpp | 48 ++-
.../components/units/PlatformUnitSimulation.h | 7 +-
...onomicPlatformGlobalPositionController.cpp | 3 -
.../units/RobotUnit/Units/PlatformSubUnit.cpp | 279 ++++++++++--------
.../units/RobotUnit/Units/PlatformSubUnit.h | 19 +-
.../interface/units/PlatformUnitInterface.ice | 9 +-
7 files changed, 219 insertions(+), 159 deletions(-)
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.cpp b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
index ebc1fd675..97faeee2f 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
@@ -86,14 +86,13 @@ namespace armarx
// odometry pose is always zero in the beginning - set it so that it can be queried
PoseStamped initialOdomPose;
- initialOdomPose.header.frame = OdometryFrame;
- initialOdomPose.header.agent = RobotFrame;
- // FIXME(fabian.reister): set timestamp properly
+ initialOdomPose.header.parentFrame = OdometryFrame;
+ initialOdomPose.header.frame = platformNodeName;
+ initialOdomPose.header.agent = "";
initialOdomPose.header.timestampInMicroSeconds = armarx::TimeUtil::GetTime().toMicroSeconds();
initialOdomPose.pose = Eigen::Matrix4f::Identity();
-
reportPlatformOdometryPose(initialOdomPose, Ice::emptyCurrent);
}
@@ -118,9 +117,9 @@ namespace armarx
void PlatformUnitObserver::reportPlatformVelocity(const VelocityStamped& platfromVelocity, const Ice::Current& c)
{
- setDataField("platformVelocity", "velocityX", platfromVelocity.velocity.x());
- setDataField("platformVelocity", "velocityY", platfromVelocity.velocity.y());
- setDataField("platformVelocity", "velocityRotation", platfromVelocity.velocity(5));
+ setDataField("platformVelocity", "velocityX", platfromVelocity.linearVelocity.x());
+ setDataField("platformVelocity", "velocityY", platfromVelocity.linearVelocity.y());
+ setDataField("platformVelocity", "velocityRotation", platfromVelocity.angularVelocity.z());
updateChannel("platformVelocity");
}
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
index f917c29d0..a086d8476 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
@@ -67,9 +67,18 @@ namespace armarx
void PlatformUnitSimulation::onStartPlatformUnit()
{
+ usingProxy("RobotStateComponent");
+
+ robotStateComponent = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+ agentName = robotStateComponent->getRobotName();
+
+ // fails if children is empty
+ robotRootFrame = robotStateComponent->getRobotInfo()->children.front()->name;
+
PoseStamped currentPose;
- // FIXME(fabian.reister): set frame and agent
- // FIXME(fabian.reister): Take the timestamp from simulation
+ currentPose.header.parentFrame = GlobalFrame;
+ currentPose.header.frame = robotRootFrame;
+ currentPose.header.agent = agentName;
currentPose.header.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();
currentPose.pose = currentPlatformPose();
@@ -94,13 +103,6 @@ namespace armarx
}
}
- void PlatformUnitSimulation::fillCommonPlatformFields(FrameHeader& header)
- {
- header.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();
- header.frame = GlobalFrame;
- header.agent = RobotFrame;
- }
-
void PlatformUnitSimulation::simulationFunction()
{
// the time it took until this method was called again
@@ -179,14 +181,28 @@ namespace armarx
}
}
+ // odom velocity is in local robot frame
+ FrameHeader odomVelocityHeader;
+ odomVelocityHeader.parentFrame = robotRootFrame;
+ odomVelocityHeader.frame = robotRootFrame;
+ odomVelocityHeader.agent = agentName;
+ odomVelocityHeader.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();;
+
+ // odom pose is in odom frame
+ FrameHeader odomPoseHeader;
+ odomPoseHeader.parentFrame = OdometryFrame;
+ odomPoseHeader.frame = robotRootFrame;
+ odomPoseHeader.agent = agentName;
+ odomPoseHeader.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();;
PoseStamped platformPose;
- fillCommonPlatformFields(platformPose.header);
+ platformPose.header = odomPoseHeader;
platformPose.pose = currentPlatformPose();
VelocityStamped platformVelocity;
- fillCommonPlatformFields(platformVelocity.header);
- platformVelocity.velocity << vel[0], vel[1], 0.F, 0.F, 0.F, vel[2];
+ platformVelocity.header = odomVelocityHeader;
+ platformVelocity.linearVelocity << vel[0], vel[1], 0;
+ platformVelocity.angularVelocity << 0, 0, vel[2];
listenerPrx->reportPlatformPose(platformPose);
listenerPrx->reportPlatformVelocity(platformVelocity);
@@ -205,8 +221,14 @@ namespace armarx
this->orientationalAccuracy = orientationalAccuracy;
}
+ FrameHeader header;
+ header.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();
+ header.parentFrame = GlobalFrame;
+ header.frame = robotRootFrame;
+ header.agent = agentName;
+
PoseStamped targetPose;
- fillCommonPlatformFields(targetPose.header);
+ targetPose.header = header;
targetPose.pose = VirtualRobot::MathTools::posrpy2eigen4f(targetPositionX, targetPositionY, 0, 0, 0, targetRotation);
listenerPrx->reportNewTargetPose(targetPose);
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index 504c4f2f1..51b7eb2f7 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -29,6 +29,7 @@
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/libraries/core/PIDController.h>
+#include <RobotAPI/interface/core/RobotState.h>
#include <IceUtil/Time.h>
@@ -136,7 +137,11 @@ namespace armarx
private:
Eigen::Matrix4f currentPlatformPose() const;
- void fillCommonPlatformFields(FrameHeader& header);
+
+ RobotStateComponentInterfacePrx robotStateComponent;
+ std::string agentName;
+ std::string robotRootFrame;
+
};
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index 4e305e90e..fd1522db9 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -126,10 +126,7 @@ namespace armarx
{
// ..todo: check if norm is too large
- // TODO(fabian.reister): add check: frame and agent have to be "Global" and "robot"
-
const float yaw = simox::math::mat4f_to_rpy(currentPose.pose).z();
-
const Eigen::Affine3f pose(currentPose.pose);
getWriterControlStruct().globalPosition << pose.translation().x(), pose.translation().y();
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
index ae198cc35..70555bd86 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
@@ -25,164 +25,183 @@
#include <Eigen/Geometry>
#include <RobotAPI/interface/core/PoseBase.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
-namespace armarx {
+namespace armarx
+{
+ void armarx::PlatformSubUnit::update(const armarx::SensorAndControl& sc, const JointAndNJointControllers&)
+ {
+ if (!getProxy())
+ {
+ //this unit is not initialized yet
+ ARMARX_IMPORTANT << deactivateSpam(1) << "not initialized yet - skipping this update";
+ return;
+ }
+ if (!listenerPrx)
+ {
+ ARMARX_INFO << deactivateSpam(1) << "listener is not set - skipping this update";
+ return;
+ }
+ const SensorValueBase* sensorValue = sc.sensors.at(platformSensorIndex).get();
+ ARMARX_CHECK_EXPRESSION(sensorValue);
+ std::lock_guard<std::mutex> guard {dataMutex};
+
+ const auto timestamp = sc.sensorValuesTimestamp.toMicroSeconds();;
+
+ // odom velocity is in local robot frame
+ FrameHeader odomVelocityHeader;
+ odomVelocityHeader.parentFrame = robotRootFrame;
+ odomVelocityHeader.frame = robotRootFrame;
+ odomVelocityHeader.agent = "";
+ odomVelocityHeader.timestampInMicroSeconds = timestamp;
+
+ // odom pose is in odom frame
+ FrameHeader odomPoseHeader;
+ odomPoseHeader.parentFrame = OdometryFrame;
+ odomPoseHeader.frame = robotRootFrame;
+ odomPoseHeader.agent = agentName;
+ odomPoseHeader.timestampInMicroSeconds = timestamp;
+
+ // odom velocity is in local robot frame
+ FrameHeader globalPoseHeader;
+ globalPoseHeader.parentFrame = GlobalFrame;
+ globalPoseHeader.frame = robotRootFrame;
+ globalPoseHeader.agent = agentName;
+ globalPoseHeader.timestampInMicroSeconds = timestamp;
+
+ //pos
+ {
+ ARMARX_CHECK_EXPRESSION(sensorValue->isA<SensorValueHolonomicPlatformRelativePosition>());
+ const SensorValueHolonomicPlatformRelativePosition* s = sensorValue->asA<SensorValueHolonomicPlatformRelativePosition>();
+ relX = s->relativePositionX;
+ relY = s->relativePositionY;
+ relR = s->relativePositionRotation;
+
+
+ // @@@ CHECK BELOW:
+ if (s->isA<SensorValueHolonomicPlatformAbsolutePosition>())
+ {
+ const SensorValueHolonomicPlatformAbsolutePosition* sabs = s->asA<SensorValueHolonomicPlatformAbsolutePosition>();
+ abs = positionCorrection * VirtualRobot::MathTools::posrpy2eigen4f(sabs->absolutePositionX, sabs->absolutePositionY, 0, 0, 0, sabs->absolutePositionRotation);
+
+ PoseStamped currentPose;
+ currentPose.header = globalPoseHeader;
+ currentPose.pose = abs;
+
+ listenerPrx->reportPlatformPose(currentPose);
+ globalPosCtrl->setGlobalPos(currentPose);
+ }
+ else
+ {
+ abs = positionCorrection * VirtualRobot::MathTools::posrpy2eigen4f(relX, relY, 0, 0, 0, relR);
+ }
+
+ PoseStamped odomPose;
+ odomPose.header = odomPoseHeader;
+ odomPose.pose = VirtualRobot::MathTools::posrpy2eigen4f(relX, relY, 0, 0, 0, relR);
+ listenerPrx->reportPlatformOdometryPose(odomPose);
+ }
+ //vel
+ {
+ ARMARX_CHECK_EXPRESSION(sensorValue->isA<SensorValueHolonomicPlatformVelocity>());
+ const SensorValueHolonomicPlatformVelocity* s = sensorValue->asA<SensorValueHolonomicPlatformVelocity>();
-void PlatformSubUnit::fillFields(armarx::FrameHeader& header, const armarx::SensorAndControl& sc){
- header.frame = ""; // FIXME(fabian.reister)
- header.agent = ""; // FIXME(fabian.reister)
- header.timestampInMicroSeconds = sc.sensorValuesTimestamp.toMicroSeconds();
-}
+ VelocityStamped odomVelocity;
+ odomVelocity.header = odomVelocityHeader;
+ odomVelocity.linearVelocity << s->velocityX, s->velocityY, 0;
+ odomVelocity.angularVelocity << 0, 0, s->velocityRotation;
-void armarx::PlatformSubUnit::update(const armarx::SensorAndControl& sc, const JointAndNJointControllers&)
-{
- if (!getProxy())
- {
- //this unit is not initialized yet
- ARMARX_IMPORTANT << deactivateSpam(1) << "not initialized yet - skipping this update";
- return;
+ listenerPrx->reportPlatformVelocity(odomVelocity);
+ }
}
- if (!listenerPrx)
+
+ void armarx::PlatformSubUnit::move(Ice::Float vx, Ice::Float vy, Ice::Float vr, const Ice::Current&)
{
- ARMARX_INFO << deactivateSpam(1) << "listener is not set - skipping this update";
- return;
+ //holding the mutex here could deadlock
+ if (!pt->isControllerActive())
+ {
+ pt->activateController();
+ }
+ std::lock_guard<std::mutex> guard {dataMutex};
+ pt->setVelocites(
+ std::clamp(vx, -maxVLin, maxVLin),
+ std::clamp(vy, -maxVLin, maxVLin),
+ std::clamp(vr, -maxVAng, maxVAng)
+ );
}
- const SensorValueBase* sensorValue = sc.sensors.at(platformSensorIndex).get();
- ARMARX_CHECK_EXPRESSION(sensorValue);
- std::lock_guard<std::mutex> guard {dataMutex};
- //pos
- {
- ARMARX_CHECK_EXPRESSION(sensorValue->isA<SensorValueHolonomicPlatformRelativePosition>());
- const SensorValueHolonomicPlatformRelativePosition* s = sensorValue->asA<SensorValueHolonomicPlatformRelativePosition>();
- relX = s->relativePositionX;
- relY = s->relativePositionY;
- relR = s->relativePositionRotation;
-
- // @@@ CHECK BELOW:
- if (s->isA<SensorValueHolonomicPlatformAbsolutePosition>())
+ void armarx::PlatformSubUnit::moveTo(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current&)
+ {
+ globalPosCtrl->setTarget(rx, ry, rr, lac, rac);
+ if (!globalPosCtrl->isControllerActive())
{
- const SensorValueHolonomicPlatformAbsolutePosition* sabs = s->asA<SensorValueHolonomicPlatformAbsolutePosition>();
- abs = positionCorrection * VirtualRobot::MathTools::posrpy2eigen4f(sabs->absolutePositionX, sabs->absolutePositionY, 0, 0, 0, sabs->absolutePositionRotation);
-
- PoseStamped currentPose;
- fillFields(currentPose.header, sc);
-
- currentPose.pose = abs;
+ globalPosCtrl->activateController();
+ };
+ }
- listenerPrx->reportPlatformPose(currentPose);
- globalPosCtrl->setGlobalPos(currentPose);
- }
- else
+ void armarx::PlatformSubUnit::moveRelative(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current&)
+ {
+ relativePosCtrl->setTarget(rx, ry, rr, lac, rac);
+ if (!relativePosCtrl->isControllerActive())
{
- abs = positionCorrection * VirtualRobot::MathTools::posrpy2eigen4f(relX, relY, 0, 0, 0, relR);
+ relativePosCtrl->activateController();
}
+ //holding the mutex here could deadlock
+ // std::lock_guard<std::mutex> guard {dataMutex};
+ ARMARX_INFO << "target orientation: " << rr;
- PoseStamped odomPose;
- // FIXME(fabian.reister): fill fields
- odomPose.pose = VirtualRobot::MathTools::posrpy2eigen4f(relX, relY, 0, 0, 0, relR);
- listenerPrx->reportPlatformOdometryPose(odomPose);
}
- //vel
- {
- ARMARX_CHECK_EXPRESSION(sensorValue->isA<SensorValueHolonomicPlatformVelocity>());
- const SensorValueHolonomicPlatformVelocity* s = sensorValue->asA<SensorValueHolonomicPlatformVelocity>();
-
- VelocityStamped odomVelocity;
- // FIXME(fabian.reister): fill fields
- odomVelocity.velocity << s->velocityX, s->velocityY, 0, 0, 0, s->velocityRotation;
- listenerPrx->reportPlatformVelocity(odomVelocity);
+ void armarx::PlatformSubUnit::setMaxVelocities(Ice::Float mxVLin, Ice::Float mxVAng, const Ice::Current&)
+ {
+ std::lock_guard<std::mutex> guard {dataMutex};
+ maxVLin = std::abs(mxVLin);
+ maxVAng = std::abs(mxVAng);
}
-}
-void armarx::PlatformSubUnit::move(Ice::Float vx, Ice::Float vy, Ice::Float vr, const Ice::Current&)
-{
- //holding the mutex here could deadlock
- if (!pt->isControllerActive())
+ void armarx::PlatformSubUnit::setGlobalPose(armarx::PoseBasePtr globalPose, const Ice::Current&)
{
- pt->activateController();
+ std::lock_guard<std::mutex> guard {dataMutex};
+ PosePtr p = PosePtr::dynamicCast(globalPose);
+ positionCorrection = p->toEigen() * abs.inverse();
}
- std::lock_guard<std::mutex> guard {dataMutex};
- pt->setVelocites(
- std::clamp(vx, -maxVLin, maxVLin),
- std::clamp(vy, -maxVLin, maxVLin),
- std::clamp(vr, -maxVAng, maxVAng)
- );
-}
-
-void armarx::PlatformSubUnit::moveTo(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current&)
-{
- globalPosCtrl->setTarget(rx, ry, rr, lac, rac);
- if (!globalPosCtrl->isControllerActive())
- {
- globalPosCtrl->activateController();
- };
-}
-void armarx::PlatformSubUnit::moveRelative(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current&)
-{
- relativePosCtrl->setTarget(rx, ry, rr, lac, rac);
- if (!relativePosCtrl->isControllerActive())
+ armarx::PoseBasePtr armarx::PlatformSubUnit::getGlobalPose(const Ice::Current&)
{
- relativePosCtrl->activateController();
+ std::lock_guard<std::mutex> guard {dataMutex};
+ return new Pose {abs};
}
- //holding the mutex here could deadlock
- // std::lock_guard<std::mutex> guard {dataMutex};
- ARMARX_INFO << "target orientation: " << rr;
-
-}
-
-void armarx::PlatformSubUnit::setMaxVelocities(Ice::Float mxVLin, Ice::Float mxVAng, const Ice::Current&)
-{
- std::lock_guard<std::mutex> guard {dataMutex};
- maxVLin = std::abs(mxVLin);
- maxVAng = std::abs(mxVAng);
-}
-
-void armarx::PlatformSubUnit::setGlobalPose(armarx::PoseBasePtr globalPose, const Ice::Current&)
-{
- std::lock_guard<std::mutex> guard {dataMutex};
- PosePtr p = PosePtr::dynamicCast(globalPose);
- positionCorrection = p->toEigen() * abs.inverse();
-}
-armarx::PoseBasePtr armarx::PlatformSubUnit::getGlobalPose(const Ice::Current&)
-{
- std::lock_guard<std::mutex> guard {dataMutex};
- return new Pose {abs};
-}
-
-void armarx::PlatformSubUnit::stopPlatform(const Ice::Current& c)
-{
- move(0, 0, 0);
-}
+ void armarx::PlatformSubUnit::stopPlatform(const Ice::Current& c)
+ {
+ move(0, 0, 0);
+ }
-Eigen::Matrix4f armarx::PlatformSubUnit::getRelativePose() const
-{
- Eigen::Matrix4f rp = VirtualRobot::MathTools::rpy2eigen4f(0, 0, relR);
- rp(0, 3) = relX;
- rp(1, 3) = relY;
- return rp;
-}
+ Eigen::Matrix4f armarx::PlatformSubUnit::getRelativePose() const
+ {
+ Eigen::Matrix4f rp = VirtualRobot::MathTools::rpy2eigen4f(0, 0, relR);
+ rp(0, 3) = relX;
+ rp(1, 3) = relY;
+ return rp;
+ }
-void armarx::PlatformSubUnit::reportPlatformPose(const PoseStamped& platformPose, const Ice::Current& c)
-{
- globalPosCtrl->setGlobalPos(platformPose);
-}
+ void armarx::PlatformSubUnit::reportPlatformPose(const PoseStamped& platformPose, const Ice::Current& c)
+ {
+ globalPosCtrl->setGlobalPos(platformPose);
+ }
-void armarx::PlatformSubUnit::reportNewTargetPose(const PoseStamped& /*targetPlatformPose*/, const Ice::Current& c)
-{
-}
+ void armarx::PlatformSubUnit::reportNewTargetPose(const PoseStamped& /*targetPlatformPose*/, const Ice::Current& c)
+ {
+ }
-void armarx::PlatformSubUnit::reportPlatformVelocity(const VelocityStamped&, const Ice::Current& c)
-{
-}
+ void armarx::PlatformSubUnit::reportPlatformVelocity(const VelocityStamped&, const Ice::Current& c)
+ {
+ }
-void armarx::PlatformSubUnit::reportPlatformOdometryPose(const PoseStamped&, const Ice::Current&)
-{
-}
+ void armarx::PlatformSubUnit::reportPlatformOdometryPose(const PoseStamped&, const Ice::Current&)
+ {
+ }
}
\ No newline at end of file
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index bba25a004..ae243d566 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -22,6 +22,7 @@
#pragma once
+#include <RobotAPI/interface/core/RobotState.h>
#include <mutex>
#include <Eigen/Core>
@@ -66,9 +67,19 @@ namespace armarx
// PlatformUnit interface
void onInitPlatformUnit() override
{
+ // FIXME(fabian.reister): no hard coded name!
usingTopic("PlatformState");
+ usingProxy("RobotStateComponent");
+ }
+ void onStartPlatformUnit() override
+ {
+ // FIXME(fabian.reister): no hard coded name!
+ robotStateComponent = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+ agentName = robotStateComponent->getRobotName();
+
+ // fails if children is empty
+ robotRootFrame = robotStateComponent->getRobotInfo()->children.front()->name;
}
- void onStartPlatformUnit() override {}
void onExitPlatformUnit() override {}
void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override;
@@ -92,7 +103,11 @@ namespace armarx
Eigen::Matrix4f positionCorrection = Eigen::Matrix4f::Identity();
- void fillFields(armarx::FrameHeader& header, const armarx::SensorAndControl& sc);
+ private:
+ RobotStateComponentInterfacePrx robotStateComponent;
+ std::string agentName;
+ std::string robotRootFrame;
+
};
}
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index 1b756cc71..33933b397 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -76,8 +76,10 @@ module armarx
struct FrameHeader
{
- string frame; // source frame
- string agent; // child frame
+ string parentFrame;
+ string frame;
+
+ string agent;
long timestampInMicroSeconds = 0;
}
@@ -94,7 +96,8 @@ module armarx
/**
* Linear (x,y,z) and angular (roll, pitch, yaw) velocities
*/
- Eigen::Vector6f velocity; // [mm, rad]
+ Eigen::Vector3f linearVelocity; // [mm/s]
+ Eigen::Vector3f angularVelocity; // [rad/s]
}
--
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