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add additional example using server and client for future simple robot control of simulated robot

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(load urdf, get state, set desired state, step simulation)
Create SharedMemoryCommand and put that into the queue
move arrays for Q, Qdot etc into the command
This commit is contained in:
erwin coumans
2015-07-15 15:23:40 -07:00
parent 80f8f940b3
commit b563c7c8ce
8 changed files with 246 additions and 117 deletions
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38
examples/SharedMemory/SharedMemoryCommands.h
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@@ -4,6 +4,24 @@
//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
#ifdef __GNUC__
#include <stdint.h>
typedef int32_t smInt32_t;
typedef int64_t smInt64_t;
typedef uint32_t smUint32_t;
typedef uint64_t smUint64_t;
#elif defined(_MSC_VER)
typedef __int32 smInt32_t;
typedef __int64 smInt64_t;
typedef unsigned __int32 smUint32_t;
typedef unsigned __int64 smUint64_t;
#else
typedef int smInt32_t;
typedef long long int smInt64_t;
typedef unsigned int smUint32_t;
typedef unsigned long long int smUint64_t;
#endif
enum SharedMemoryServerCommand
{
CMD_URDF_LOADING_COMPLETED,
@@ -74,6 +92,15 @@ struct SendDesiredStateArgs
{
int m_bodyUniqueId;
int m_controlMode;
//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];
};
struct RequestActualStateArgs
@@ -99,6 +126,12 @@ struct SendActualStateArgs
int m_bodyUniqueId;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
//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
};
@@ -111,7 +144,10 @@ struct StepSimulationArgs
struct SharedMemoryCommand
{
int m_type;
smUint64_t m_timeStamp;
int m_sequenceNumber;
union
{
UrdfArgs m_urdfArguments;