WrenchController, PoseController, etc...

[buschbapti]

The base Controller class is needed to define a structure but does not allow to put part of the code that would be reused by derived controller. An alternative would be to add extra derived class as:

• PoseController: to go from CartesianPose to JointPositions
• TwistController: to go from CartesianTwist to JointVelocities
• WrenchController: to go from CartesianWrench to JointTorques

The only drawback I see with that approach is that some controller could be a bit more hybrid or the robot need some conversions in the command, e.g.:

• TwistController but my robot only accept positions command so I need to integrate the JointVelocities
• TwistController but I want to command torques (which is what the Impedance is actually doing)

I think we need to refine a bit on that question because that seems like we could come up with a much better solution to avoid code duplication.