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reduce size of SharedMemoryStatus by moving state details into shared memory streaming block.

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This commit is contained in:
erwincoumans
2019-03-06 23:27:59 -08:00
parent 4c37558805
commit 0af0f193ee
13 changed files with 330 additions and 96 deletions
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16
examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
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@@ -1260,13 +1260,15 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
serverStatus.m_sendActualStateArgs.m_numDegreeOfFreedomQ = numDegreeOfFreedomQ;
serverStatus.m_sendActualStateArgs.m_numDegreeOfFreedomU = numDegreeOfFreedomU;
serverStatus.m_sendActualStateArgs.m_stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient;
for (int i = 0; i < numDegreeOfFreedomQ; i++)
{
serverStatus.m_sendActualStateArgs.m_actualStateQ[i] = stat->actualstateq(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_actualStateQ[i] = stat->actualstateq(i);
}
for (int i = 0; i < numDegreeOfFreedomU; i++)
{
serverStatus.m_sendActualStateArgs.m_actualStateQdot[i] = stat->actualstateqdot(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_actualStateQdot[i] = stat->actualstateqdot(i);
}
for (int i = 0; i < 7; i++)
{
@@ -1274,23 +1276,23 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
}
for (int i = 0; i < numLinks * 6; i++)
{
serverStatus.m_sendActualStateArgs.m_linkLocalInertialFrames[i] = stat->linklocalinertialframes(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_linkLocalInertialFrames[i] = stat->linklocalinertialframes(i);
}
for (int i = 0; i < numLinks * 6; i++)
{
serverStatus.m_sendActualStateArgs.m_jointReactionForces[i] = stat->jointreactionforces(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_jointReactionForces[i] = stat->jointreactionforces(i);
}
for (int i = 0; i < numLinks; i++)
{
serverStatus.m_sendActualStateArgs.m_jointMotorForce[i] = stat->jointmotorforce(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_jointMotorForce[i] = stat->jointmotorforce(i);
}
for (int i = 0; i < numLinks * 7; i++)
{
serverStatus.m_sendActualStateArgs.m_linkState[i] = stat->linkstate(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_linkState[i] = stat->linkstate(i);
}
for (int i = 0; i < numLinks * 6; i++)
{
serverStatus.m_sendActualStateArgs.m_linkWorldVelocities[i] = stat->linkworldvelocities(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_linkWorldVelocities[i] = stat->linkworldvelocities(i);
}
break;