minor update for shared memory interface

examples/SharedMemory/SharedMemoryCommands.h

@@ -0,0 +1,76 @@
+
+#ifndef SHARED_MEMORY_COMMANDS_H
+#define SHARED_MEMORY_COMMANDS_H
+
+//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
+
+enum SharedMemoryServerCommand{
+    CMD_URDF_LOADING_COMPLETED,
+    CMD_URDF_LOADING_FAILED,
+	CMD_ACTUAL_STATE_UPDATE_COMPLETED,
+//	CMD_DESIRED_STATE_RECEIVED_COMPLETED,
+    CMD_STEP_FORWARD_SIMULATION_COMPLETED,
+    CMD_MAX_SERVER_COMMANDS
+};
+
+enum SharedMemoryClientCommand{
+    CMD_LOAD_URDF,
+	CMD_REQUEST_ACTUAL_STATE,
+//	CMD_SEND_DESIRED_STATE,
+    CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
+    CMD_SHUTDOWN,
+    CMD_MAX_CLIENT_COMMANDS
+};
+
+#define SHARED_MEMORY_SERVER_TEST_C
+#define MAX_DEGREE_OF_FREEDOM 1024
+#define MAX_NUM_SENSORS 1024
+#define MAX_URDF_FILENAME_LENGTH 1024
+
+
+struct UrdfArgs
+{
+    char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
+	bool m_useMultiBody;
+	bool m_useFixedBase;
+};
+
+struct SendDesiredStateArgs
+{
+	int m_bodyUniqueId;
+};
+
+struct RequestActualStateArgs
+{
+	int m_bodyUniqueId;
+};
+
+struct SendActualStateArgs
+{
+	int m_bodyUniqueId;
+	int m_numDegreeOfFreedomQ;
+	int m_numDegreeOfFreedomU;
+};
+
+
+struct StepSimulationArgs
+{
+    double m_deltaTimeInSeconds;
+};
+
+struct SharedMemoryCommand
+{
+    int m_type;
+    
+    union
+    {
+        UrdfArgs m_urdfArguments;
+        StepSimulationArgs m_stepSimulationArguments;
+		SendDesiredStateArgs m_sendDesiredQandUStateCommandArgument;
+		RequestActualStateArgs m_requestActualStateInformationCommandArgument;
+		SendActualStateArgs m_sendActualStateArgs;
+    };
+};
+
+
+#endif //SHARED_MEMORY_COMMANDS_H