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Proposal: Rename Joint::Local[~] to Joint::Relative[~] #714

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jslee02 opened this issue May 5, 2016 · 1 comment
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Proposal: Rename Joint::Local[~] to Joint::Relative[~] #714

jslee02 opened this issue May 5, 2016 · 1 comment
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DART 6.0.0

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jslee02 commented May 5, 2016

In Joint, we've used local term for child BodyNode's transform, velocity, acceleration, and Jacobian to represent they are relative to the parent BodyNode. Whereas Frame uses relative term for the same purpose and also for any arbitrary reference frame when the frame parameter is passed.

For consistency, we should either (1) replace local with relative or (2) use local for the case of relative term from the parent to the child. I'm inclined to (1) because using both terms seems too verbose to me.

Also, I'd like to make this change for DART 6.0.
@jslee02 jslee02 added this to the DART 6.0.0 milestone May 5, 2016
@jslee02 jslee02 self-assigned this May 5, 2016
jslee02 added a commit that referenced this issue May 5, 2016
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Rename Joint::[~]Local[~] to Joint::[~]Relative[~] as suggested #714
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@jslee02 jslee02 mentioned this issue May 5, 2016
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jslee02 commented May 8, 2016

Done by #715

@jslee02 jslee02 closed this as completed May 8, 2016
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