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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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9
examples/SharedMemory/SharedMemoryInterface.h
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@@ -26,13 +26,22 @@ struct SharedMemoryExampleData
//desired state is only written by the client, read-only access by server is expected
double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM];
//m_desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
//or m_desiredStateForceTorque is the maximum applied force/torque for the motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY mode
double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_actualStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
//the Bullet data structures are more general purpose than the capabilities of a URDF file.
char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
//example to provide all details of a multibody including joint/link names, after loading a URDF file.
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
};