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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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18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -72,6 +72,7 @@ struct UrdfArgs
struct BulletDataStreamArgs
{
int m_streamChunkLength;
int m_bodyUniqueId;
};
struct SetJointFeedbackArgs
@@ -108,17 +109,7 @@ struct RequestActualStateArgs
int m_bodyUniqueId;
};
struct CreateBoxShapeArgs
{
double m_halfExtents[3];
};
struct CreateRigidBodyArgs
{
int m_shapeId;
double m_initialPosition[3];
double m_initialOrientation[3];
};
struct SendActualStateArgs
@@ -136,10 +127,6 @@ struct SendActualStateArgs
struct StepSimulationArgs
{
double m_deltaTimeInSeconds;
};
struct SharedMemoryCommand
{
@@ -152,8 +139,7 @@ struct SharedMemoryCommand
{
UrdfArgs m_urdfArguments;
BulletDataStreamArgs m_dataStreamArguments;
StepSimulationArgs m_stepSimulationArguments;
SendDesiredStateArgs m_sendDesiredStateCommandArgument;
SendDesiredStateArgs m_sendDesiredStateCommandArgument;
RequestActualStateArgs m_requestActualStateInformationCommandArgument;
SendActualStateArgs m_sendActualStateArgs;
};