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Used controlled_frame instead of tcp_frame as name #16

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Sep 16, 2020
Merged

Used controlled_frame instead of tcp_frame as name #16

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10 changes: 5 additions & 5 deletions source/proposal/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -178,11 +178,11 @@ trajectory object consisting of multiple trajectory points.
# header.frame_id is the frame in which all data from CartesianTrajectoryPoint[] is given
Header header
CartesianTrajectoryPoint[] points
string tcp_frame
string controlled_frame

At this stage we include a time stamp through the ``header`` message.
Note that ``header`` also includes a ``frame_id``, which is the assumed reference frame for the data given in ``points``.
The link that shall follow the trajectory is specified with ``tcp_frame``.
The link that shall follow the trajectory is specified with ``controlled_frame``.
Some of
the existing proposals use a ``geometry_msgs/Pose`` field to express the points' reference frame. However, we think that using names as identifiers makes this interface more versatile, because it delegates possible lookups to where this information is easier available.

Expand Down Expand Up @@ -238,7 +238,7 @@ propose an action interface for executing Cartesian trajectories.
---

Header header
string tcp_frame
string controlled_frame
CartesianTrajectoryPoint desired
CartesianTrajectoryPoint actual
CartesianTolerance error
Expand Down Expand Up @@ -270,7 +270,7 @@ As elaborated in the previous section we propose the following action interface
CartesianPosture posture
string [] posture_joint_names
float64[] posture_joint_values
string tcp_frame
string controlled_frame
CartesianTolerance path_tolerance
geometry_msgs/Vector3 position_error
geometry_msgs/Vector3 orientation_error
Expand Down Expand Up @@ -301,7 +301,7 @@ As elaborated in the previous section we propose the following action interface
---

Header header
string tcp_frame
string controlled_frame
CartesianTrajectoryPoint desired
duration time_from_start
geometry_msgs/Pose pose
Expand Down