WIP Flexible actuator interfaces #6
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Not at all. In fact was kind of expected given the nature of the changes required. |
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@jordan-palacios it was super tricky to figure out the right way of these changes. Please have a look, but keep in mind I'm not done yet |
… from base classes
…missions only use the relevant interface in relevant functions
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I've rebased this branch to the latest melodic-devel to get Travis up'n'running |
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Supersedes #3 .
Note that these changes break API for all transmissions. Please let me know if you think this is a show-stopper.
Todo list includes:
ActuatorDatatemplated on interface typesActuatorStateHandletemplated on interface typesTransmissionHandlewill become templated on the components ofActuatorData, instead of holding a fixedActuatorData actuator_data_;field. That will come with new tests.ActuatorStateHandlein business logic, ideally should be defined / used by RobotHW.ActuatorData((likewise forJointDatain the future).