On Thu, 28 Jun 2012, Adolfo Rodríguez Tsouroukdissian wrote:

>
>
> On Sun, Jun 24, 2012 at 10:55 PM, Peter Soetens <peter [..] ...> wrote:
> Hi Adolfo,
>
> On Mon, Mar 26, 2012 at 3:14 PM, Adolfo Rodríguez Tsouroukdissian
> <adolfo [dot] rodriguez [..] ...> wrote:
> All,
>
> For some time now the user base of KDL has been expanding significantly,
> and the use cases are becoming increasingly more complex. Practical
> experience is showing that parts of the KDL API are difficult to extend
> in a modular fashion. A particular example that has been quite active
> recently is that of Inverse Kinematics solvers [1, 2, 3], where
> extensions frequently end up resorting to code duplication and little
> reuse. Apart from the obvious problem of maintaining fragmented
> extensions that do make it upstream, many just don't make it back to
> KDL, and people start to duplicate efforts over and over again.
>
> Possible solutions to these issues have been proposed on the list [4],
> but I believe the more general subject of how to improve the KDL
> developer experience deserves some attention, so I'd like to ask fellow
> KDL developers and users for their opinion on what they would like to
> see in a future release of the library. I just created a wiki page [5]
> and seeded it with a couple of ideas. Feel free to contribute your own.
> If there is enough community interest, maybe we could organize a KDL
> developers meeting in the future.
>
> [1]http://www.orocos.org/forum/rtt/rtt-dev/bug-837-new-tree-ik-position-solver-onlinereal-time-cal
> culations
> [2] http://www.orocos.org/forum/rtt/rtt-dev/new-solvers-welcome
> [3]
> http://www.orocos.org/forum/orocos/orocos-users/about-wdlspriorvelsolver...
> [4]
> http://www.orocos.org/forum/rtt/rtt-dev/new-solvers-welcome#comment-32933
> [5] http://www.orocos.org/orocos/kdl-wiki/kdl-wishlist
>
>
> With the recent interest in KDL on the list, maybe this effort should be finally picked up
> by those involved.
>
>
> Especially the 'wishlist' seems a good starting point to form an initial consensus of the
> current KDL users.
>
>
> It does!. I'd like to pick up this discussion again in the near future. In the time since the
> wishlist wiki page was created I've been contacting other non-KDL developers/groups with
> interest and track record on the topics that span the scope of a Kinematics and Dynamics Library
> to have a better feeling of "what's out there", ie. how projects intersect or complement each
> other, strong/weak points of each. I'll report back with thoughts once I'm done with this and
> ordered my ideas.

I am looking forward to this report! :-)

Herman

Dear Orocos mailing list users,

I kindly invite everyone to use plain text emails only, and not
combinations of HTML and text: the latter makes it more and more impossible
for plain text readers to follow thread indentations...

Best regards,

Herman Bruyninckx

On Thu, 28 Jun 2012, Adolfo Rodríguez Tsouroukdissian wrote:

>
>
> On Sun, Jun 24, 2012 at 10:55 PM, Peter Soetens <peter [..] ...> wrote:
> Hi Adolfo,
>
> On Mon, Mar 26, 2012 at 3:14 PM, Adolfo Rodríguez Tsouroukdissian
> <adolfo [dot] rodriguez [..] ...> wrote:
> All,
>
> For some time now the user base of KDL has been expanding significantly,
> and the use cases are becoming increasingly more complex. Practical
> experience is showing that parts of the KDL API are difficult to extend
> in a modular fashion. A particular example that has been quite active
> recently is that of Inverse Kinematics solvers [1, 2, 3], where
> extensions frequently end up resorting to code duplication and little
> reuse. Apart from the obvious problem of maintaining fragmented
> extensions that do make it upstream, many just don't make it back to
> KDL, and people start to duplicate efforts over and over again.
>
> Possible solutions to these issues have been proposed on the list [4],
> but I believe the more general subject of how to improve the KDL
> developer experience deserves some attention, so I'd like to ask fellow
> KDL developers and users for their opinion on what they would like to
> see in a future release of the library. I just created a wiki page [5]
> and seeded it with a couple of ideas. Feel free to contribute your own.
> If there is enough community interest, maybe we could organize a KDL
> developers meeting in the future.
>
> [1]http://www.orocos.org/forum/rtt/rtt-dev/bug-837-new-tree-ik-position-solver-onlinereal-time-cal
> culations
> [2] http://www.orocos.org/forum/rtt/rtt-dev/new-solvers-welcome
> [3]
> http://www.orocos.org/forum/orocos/orocos-users/about-wdlspriorvelsolver...
> [4]
> http://www.orocos.org/forum/rtt/rtt-dev/new-solvers-welcome#comment-32933
> [5] http://www.orocos.org/orocos/kdl-wiki/kdl-wishlist
>
>
> With the recent interest in KDL on the list, maybe this effort should be finally picked up
> by those involved.
>
>
> Especially the 'wishlist' seems a good starting point to form an initial consensus of the
> current KDL users.
>
>
> It does!. I'd like to pick up this discussion again in the near future. In the time since the
> wishlist wiki page was created I've been contacting other non-KDL developers/groups with
> interest and track record on the topics that span the scope of a Kinematics and Dynamics Library
> to have a better feeling of "what's out there", ie. how projects intersect or complement each
> other, strong/weak points of each. I'll report back with thoughts once I'm done with this and
> ordered my ideas.

I am looking forward to this report! :-)

Herman

Dear Orocos mailing list users,

I kindly invite everyone to use plain text emails only, and not
combinations of HTML and text: the latter makes it more and more impossible
for plain text readers to follow thread indentations...

Best regards,

Herman Bruyninckx