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ActuatorStateInterface to be aggregator of multiple smaller interfaces? #2

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bmagyar opened this issue Mar 7, 2019 · 1 comment
Open

ActuatorStateInterface to be aggregator of multiple smaller interfaces? #2

bmagyar opened this issue Mar 7, 2019 · 1 comment

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@bmagyar
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bmagyar commented Mar 7, 2019

Fully depicting what I mean by a UML:

actuatorstateinterface

This'd allow for one to actually implement the actuator state interface they want in their RobotHW while clients could specify only the interfaces they require from an actuator handle.
@bmagyar bmagyar changed the title ActuatorInterface to be aggregator of multiple smaller interfaces? ActuatorStateInterface to be aggregator of multiple smaller interfaces? Mar 7, 2019
@jordan-palacios
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jordan-palacios commented Mar 7, 2019 •
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Great representation.

This is how I exactly how I envisioned the new ActuatorStateInterface (see #1). My concern is how we couple this with the JointStateInterface and Transmission.

@bmagyar bmagyar mentioned this issue Mar 19, 2019
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@bmagyar @jordan-palacios