Joint and motor state in Imotor

[torydebra]

We need to differentiate the joint and motor states, but I am not sure on how to contort @liesrock HAL structure.

So,

• we have IMotor interface, where getjointposition, velocity, effort must be added

• In EEHal
  

  ROSEndEffector/include/ros_end_effector/EEHal.h

  Lines 35 to 67 in 0f85390

  	class EEHal : public IMotor {
  	public:
  	typedef std::shared_ptr<EEHal> Ptr;
  	typedef std::shared_ptr<const EEHal> ConstPtr;
  	EEHal( ROSEE::EEInterface::Ptr ee_interface );
  	virtual ~EEHal();
  	virtual bool sense() = 0;
  	virtual bool move() = 0;
  	protected:
  	virtual bool setJointPosition( std::string joint_name, double joint_position);
  	virtual bool setJointVelocity( std::string joint_name, double joint_velocity);
  	virtual bool setJointEffort( std::string joint_name, double joint_effort);
  	virtual bool getJointPosition( std::string joint_name, double& joint_position);
  	virtual bool getJointVelocity( std::string joint_name, double& joint_velocity);
  	virtual bool getJointEffort( std::string joint_name, double& joint_effort);
  	ROSEE::EEInterface::Ptr _ee_inteface;
  	private:
  	std::map<std::string, double> _joint_postion;
  	std::map<std::string, double> _joint_velocity;
  	std::map<std::string, double> _joint_effort;
  	};

  We need to add _motor_position, vel, eff attributes?
  The setJointPosition must be deleted, so derived class must implement them (as it is now with setMotors***); same for get?
  Or we keep them and reimplement if neccesary (but in this case, we must put them public...)

[torydebra]

I take the chance of this issue for another doubt I have:

I am implementing a get motorcurrent. We need another fill_publish_*** ? we need one for each type of sensors? Should not be better to publish to ros topic these information from hal structures? So, if the concrete hal has the sensor, it will publish something. Now instead universal rosee executor must do fill publish for each sensor and check if this sensor is present...
I am a bit confused maybe :D

[torydebra]

For example, fill publish joint states sends commands to joint. But when real hand is used, the command are given with setPosReference, so what is the purpose of this function in this case?

[torydebra]

Closing here, we will solve this problem with hal2 #57