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implement preliminary CMD_SEND_DESIRED_STATE with CONTROL_MODE_VELOCITY and

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CONTROL_MODE_TORQUE.
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=
2015-07-14 08:34:02 -07:00
parent a7fc45410b
commit 482f31597b
4 changed files with 201 additions and 4 deletions
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10
examples/SharedMemory/SharedMemoryCommands.h
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@@ -63,9 +63,17 @@ struct SetJointFeedbackArgs
bool m_isEnabled;
};
//todo: discuss and decide about control mode and combinations
enum {
// POSITION_CONTROL=0,
CONTROL_MODE_VELOCITY,
CONTROL_MODE_TORQUE,
};
struct SendDesiredStateArgs
{
int m_bodyUniqueId;
int m_controlMode;
};
struct RequestActualStateArgs
@@ -109,7 +117,7 @@ struct SharedMemoryCommand
UrdfArgs m_urdfArguments;
BulletDataStreamArgs m_dataStreamArguments;
StepSimulationArgs m_stepSimulationArguments;
SendDesiredStateArgs m_sendDesiredQandUStateCommandArgument;
SendDesiredStateArgs m_sendDesiredStateCommandArgument;
RequestActualStateArgs m_requestActualStateInformationCommandArgument;
SendActualStateArgs m_sendActualStateArgs;
};