23/04/18 RobotLibrary Development Meeting

[ssutjipto]

Chair:

• Sheila @ssutjipto

Attendees:

• Jon @Woolfrey

Agenda:

Item	Tag	Responsible	Comment
Create Issues/Milestones for the tasks below and tag them	N/A	@Woolfrey	Tags created
Create feature(?) branch for KinematicTree class.	N/A	@Woolfrey	Branch created
Finish testing Trajectory class with ROS2	N/A	@Woolfrey	Busy with ergoCub, reworking theory on orientation trajectory
Replace Eigen::Isometry3f with Pose in RigidBody class.	#76	@Woolfrey	Done, but need to test product operator
Start on parsing URDF files	#77	@ssutjipto	Done, currently being converted into class by @Woolfrey
Insert Link properties from URDF in to a Branch class.	#78	@ssutjipto	Done, currently being converted into class by @Woolfrey
Develop skeleton for KinematicTree class	#83	@Woolfrey	Ongoing

Additional Discussion Points:

Discussion Point	Raised By	Tag	Outcome
Orientation trajectories	@Woolfrey		Now using angle x axis, contained in CartesianTrajectory class
Exception handling	@Woolfrey		Throw exception on constructors, return boolean where possible in getters
Naming convention	@ssutjipto		Underscores for functions and camel case for variables, style guide should be written
Combining links with fixed joints	@Woolfrey		Last step before KinematicTree constructor is complete

Next Meeting:

Item	Tag	Responsible
Close off outstanding issues	#85 #86	@Woolfrey
Finish KinematicTree constructor		@Woolfrey
Check Pose class		@ssutjipto

Conclusions

Let's try to make this year a good one!

[Woolfrey]