distinguish between controlled and model joints and links #528
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wxmerkt
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@christian-rauch Can you please add a |
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I added a |
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distinguish between controlled and model joints and links
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Since EXOTica has the concept of the model state (the total DOF that describes the state of the kinematic chain) and the controlled state (the subset of the model state that can be controlled), I would like the API to reflect this more via the method names.
When querying the attributes (joints, links) and values (state) of a kinematic chain, the method name should contain which set is queried (i.e. the total model set of the controlled subset).
E.g. when using
GetJointNamesit is unclear if this will return the total set or only the controlled subset of joints.This breaks public API but I think it's worth to clarify this naming.