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Posted by Padu on March 17, 2006, 4:48 pm
Please log in for more thread options "mlw"
> OK, I'm working on an API for a robotics system, my strategy is to define
> a
> small workable API that is extensible. The robot will be divided into
> logical functional objects of varying levels of complexity.
>
>
> The first object I am thinking about is the robot "base." Imagine you had
> a
> simplified API to a robotic base. The base may be legged, wheeled,
> pogo-sticked, or overcraft it should not matter.
>
> What is a reasonable control structure for such an API?
>
> Velocity:
> set velocity
> Set vector/curve?
>
> Position:
> move to position
> report estimated position
> move to position at speed
>
>
> Do I build more functionality than that into the base, instead relying on
> higher level objects to control the base?
>
> What do you think?
Download and read the JAUS specification documents. There are a couple of
them, but the last one I think (the one that really defines the
communication messages) is pretty complete and will give you lots of
insights. They have a common API for all you mentioned and something more.
I did not use their API (messaging structure), but I got some pretty good
ideas from their documentation. They've been working on the specification of
JAUS for quite some time now.
Cheers
Padu
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> What is a reasonable control structure for such an API?