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allow to control of powered joints after loading a URDF file, through shared memory

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more refactor of shared memory joint control API
This commit is contained in:
Erwin Coumans
2015-07-20 23:35:29 -07:00
parent 68b53feb9c
commit 8e163c984d
10 changed files with 279 additions and 118 deletions
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25
examples/SharedMemory/PhysicsClient.h
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@@ -3,6 +3,17 @@
#include "SharedMemoryCommands.h"
#include <string>
struct PoweredJointInfo
{
std::string m_linkName;
std::string m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
};
class PhysicsClientSharedMemory //: public CommonPhysicsClientInterface
{
@@ -14,22 +25,22 @@ public:
PhysicsClientSharedMemory();
virtual ~PhysicsClientSharedMemory();
//todo: implement 'allocateSharedMemory' from client side in 'connect' call
//return true if connection succesfull, can also check 'isConnected'
virtual bool connect(bool allowSharedMemoryInitialization = true);
virtual bool isConnected() const;
virtual void processServerStatus();
virtual bool getLastServerStatus(ServerStatus& status)
{
return false;
}
// return true if there is a status, and fill in 'serverStatus'
virtual bool processServerStatus(ServerStatus& serverStatus);
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const SharedMemoryCommand& command);
virtual int getNumPoweredJoints() const;
virtual void getPoweredJointInfo(int index, PoweredJointInfo& info) const;
};
#endif //BT_PHYSICS_CLIENT_API_H