ParameterServer Class
The main point of this issue to refactor some of the information available in sot-torque-control.
I propose to put it in sot-core to make it available to everyone.
The idea is to take the class RobotUtils from
sot-torque-control/include/sot/torque-control/common.hh
sot-torque-control/src/common.cpp
to:
sot-core/include/sot/torque-control/robot-utils.hh
sot-core/src/robot-utils.cpp
Then create a new entity ParameterServer to initialize one instance of robot-util as it is done in
sot-torque-control/src/controller-manager.cpp
Only the methods calling setters of RobotUtils should be put in ParameterServer.
The code to create an instance of RobotUtils (if and only if it does not already exists) or take the reference of an existing one for a given robot name is:
std::string robotName("Talos");
if (!isNameInRobotUtil(robotName))
{
m_robot_util = createRobotUtil(robotName);
}
else
{
m_robot_util = getRobotUtil(robotName);
}