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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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18
examples/SharedMemory/SharedMemoryInterface.h
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@@ -3,7 +3,7 @@
#define SHARED_MEMORY_KEY 12347
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 64
#define SHARED_MEMORY_MAX_COMMANDS 32
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#include "SharedMemoryCommands.h"
@@ -20,22 +20,6 @@ struct SharedMemoryExampleData
int m_numServerCommands;
int m_numProcessedServerCommands;
//TODO: it is better to move this single desired/actual state (m_desiredStateQ, m_actualStateQ etc) into the command,
//so we can deal with multiple bodies/robots
//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];