This PR adds the property dim_configuration_space in the superclass DQ_Kinematics #94
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…s and removed it from the subclasses. [DQ_Kinematics] Added the protected property dim_configuration_space. [DQ_MobileBase] Removed the property dim_configuration_space. [DQ_SerialWholeBody] Removed the property dim_configuration_space. [DQ_WholeBody] Removed the property dim_configuration_space. [DQ_FreeFlyingRobot] Removed the property dim_configuration_space.
…or and all its subclasses [DQ_SerialManipulator] Removed n_links. Now the class uses dim_configuration_space from DQ_Kinematics. [DQ_SerialManipulatorDH, MDH] Removed the definition of n_links to comply the changes in DQ_SerialManipulator and DQ_Kinematics.
juanjqo
changed the title
bvadorno
approved these changes
Apr 30, 2023
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@dqrobotics/developers
Hi @bvadorno and @mmmarinho ,
This PR adds the property
dim_configuration_spacein the superclassDQ_Kinematics. This modification is inspired by the current C++ implementation and aims to advance a step toward the convergence of both versions of DQ Robotics.Motivation:
All subclasses of the superclass
DQ_Kinematicsimplement the propertydim_configuration_space. Since the configuration space size is a common property of all subclasses, it looks reasonable to implement it in the superclass directly.List of modifications:
dim_configuration_spaceinDQ_Kinematics.dim_configuration_spacefrom the following classes:DQ_MobileBaseDQ_SerialWholeBodyDQ_FreeFlyingRobotDQ_WholeBodyn_linksfromDQ_SerialManipulator. Consequently, I modified internal implementations of the class and its subclasses to comply this change. For example, inDQ_Serialmanipulatorthe parts using n_links were updated.This is,
Current Master Branch:
Current PR:
The only modification required in the subclasses of
DQ_SerialManipulatorwas the following:Current master branch:
This PR:
I tried to avoid those internal modifications as much as possible, as suggested/pointed out by Bruno and Murilo. Nevertheless, I think it would be weird to have
n_linksonly in one of the subclasses ofDQ_Kinematicsacting as a localdim_configuration_space.Current Master Branch:
Proposal in this PR:
Please let me know what do you think.
Best regards,
Juancho