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API review

Proposer: Sachin Chitta

Present at review:

API Proposal

SplineTraj.msg - retained to define spline coefficients

SplineTrajSegment.msg - define a single spline trajectory segment

SplineCoeff.msg - define a single spline

This structure is easier than the existing structure where the spline coefficients are defined as arrays of type a,b,c,d,e,f, etc. E.g., with the existing structure, to define a spline with 4 segments for 5 joints, this would be the code

With the new proposed structure

Waypoint.msg - used to specify a single waypoint

WaypointTraj.msg - used to specify a path




IKRequest.srv - A generic IK service request - Will rename to GetIKSolution.srv

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.




Meeting agenda

To be filled out by proposer based on comments gathered during API review period


Package status change mark change manifest)

2024-06-15 12:57