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minor refactoring

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2015-07-23 11:51:25 -07:00
parent 0fe6d343bc
commit 3fe9138e8c
11 changed files with 64 additions and 96 deletions
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51
examples/SharedMemory/SharedMemoryCommands.h
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@@ -63,11 +63,11 @@ enum EnumSharedMemoryServerStatus
struct UrdfArgs
{
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
double m_initialPosition[3];
double m_initialOrientation[4];
bool m_useMultiBody;
bool m_useFixedBase;
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
double m_initialPosition[3];
double m_initialOrientation[4];
int m_useMultiBody;
int m_useFixedBase;
};
@@ -81,7 +81,7 @@ struct SetJointFeedbackArgs
{
int m_bodyUniqueId;
int m_linkId;
bool m_isEnabled;
int m_isEnabled;
};
//todo: discuss and decide about control mode and combinations
@@ -132,7 +132,6 @@ enum EnumUpdateFlags
///The control mode determines the state variables used for motor control.
struct SendPhysicsSimulationParameters
{
double m_deltaTime;
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
@@ -161,25 +160,26 @@ struct SendActualStateArgs
};
typedef struct SharedMemoryCommand SharedMemoryCommand_t;
struct SharedMemoryCommand
{
int m_type;
int m_type;
smUint64_t m_timeStamp;
int m_sequenceNumber;
smUint64_t m_timeStamp;
//a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
smUint64_t m_updateFlags;
//a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
int m_updateFlags;
union
{
UrdfArgs m_urdfArguments;
InitPoseArgs m_initPoseArgs;
SendPhysicsSimulationParameters m_physSimParamArgs;
BulletDataStreamArgs m_dataStreamArguments;
SendDesiredStateArgs m_sendDesiredStateCommandArgument;
RequestActualStateArgs m_requestActualStateInformationCommandArgument;
struct UrdfArgs m_urdfArguments;
struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs;
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendDesiredStateArgs m_sendDesiredStateCommandArgument;
struct RequestActualStateArgs m_requestActualStateInformationCommandArgument;
};
};
@@ -193,11 +193,20 @@ struct SharedMemoryStatus
union
{
BulletDataStreamArgs m_dataStreamArguments;
SendActualStateArgs m_sendActualStateArgs;
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendActualStateArgs m_sendActualStateArgs;
};
};
typedef SharedMemoryStatus ServerStatus;
struct PoweredJointInfo
{
char* m_linkName;
char* m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
};
#endif //SHARED_MEMORY_COMMANDS_H