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Implement IPositionDirect::getRefPosition(s) #204

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PeterBowman opened this issue Mar 11, 2019 · 4 comments
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Implement IPositionDirect::getRefPosition(s) #204

PeterBowman opened this issue Mar 11, 2019 · 4 comments
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dev: TechnosoftIpos priority: low

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PeterBowman commented Mar 11, 2019 •
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Default-implemented on the YARP side (all the three methods return false), unimplemented yet in our CAN devices. I need these for kin-dyn. See docs, available in v2.3.70 (and below).
@PeterBowman PeterBowman mentioned this issue Mar 11, 2019
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Lowering priority per roboticslab-uc3m/kinematics-dynamics#173 (comment).

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Blocked by #198, boils down to querying the 201Ch object (External On-Line Reference, see section 13.2.1).

@PeterBowman PeterBowman self-assigned this Aug 6, 2019
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Blocked by #198, boils down to querying the 201Ch object (External On-Line Reference, see section 13.2.1).

Yet another approach: #220. The new LinearInterpolationBuffer class stores two points: the last that was received and the last that was sent. Now, I need to retrieve the latter in order to implement getRefPosition(s).

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Done at 11c792c.

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