ControlBoard: first compiling version after the refactoring for intro…

…ducting the coupling
robotology · Dec 12, 2024 · 27b52f9 · 27b52f9
1 parent 5755eb8
commit 27b52f9
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Showing 5 changed files with 175 additions and 131 deletions.
diff --git a/plugins/controlboard/include/ControlBoard.hh b/plugins/controlboard/include/ControlBoard.hh
@@ -65,6 +65,10 @@ private:
     yarp::os::Network m_yarpNetwork;
     yarp::os::Property m_pluginParameters;
     gz::sim::EntityComponentManager* m_ecm;
+    yarp::sig::Vector m_physicalJointsPositionBuffer, m_physicalJointsVelocityBuffer,
+        m_physicalJointsTorqueBuffer;
+    yarp::sig::Vector m_actuatedAxesPositionBuffer, m_actuatedAxesVelocityBuffer,
+        m_actuatedAxesTorqueBuffer;
 
     enum class AngleUnitEnum
     {
@@ -92,15 +96,16 @@ private:
                           std::vector<yarp::dev::Pid>& yarpPIDs,
                           size_t numberOfPhysicalJoints);
     void setJointPositionPIDs(AngleUnitEnum cUnits, const std::vector<yarp::dev::Pid>& yarpPIDs);
-    double convertUserGainToGazeboGain(JointProperties& joint, double value);
-    double convertGazeboGainToUserGain(JointProperties& joint, double value);
-    double convertGazeboToUser(JointProperties& joint, double value);
-    double convertUserToGazebo(JointProperties& joint, double value);
+    double convertUserGainToGazeboGain(PhysicalJointProperties& joint, double value);
+    double convertGazeboGainToUserGain(PhysicalJointProperties& joint, double value);
+    double convertGazeboToUser(PhysicalJointProperties& joint, double value);
+    double convertUserToGazebo(PhysicalJointProperties& joint, double value);
     bool initializeJointPositionLimits(const gz::sim::EntityComponentManager& ecm);
     bool initializeTrajectoryGenerators();
     bool initializeTrajectoryGeneratorReferences(yarp::os::Bottle& trajectoryGeneratorsGroup);
     bool parseInitialConfiguration(std::vector<double>& initialConfigurations);
     void resetPositionsAndTrajectoryGenerators(gz::sim::EntityComponentManager& ecm);
+    void configureBuffers();
 };
 
 } // namespace gzyarp
diff --git a/plugins/controlboard/include/ControlBoardData.hh b/plugins/controlboard/include/ControlBoardData.hh
@@ -52,7 +52,7 @@ struct CommonJointProperties {
     double velocity{0.0}; // Joint velocity [deg/s]
     double velocityLimitMin{std::numeric_limits<double>::min()};
     double velocityLimitMax{std::numeric_limits<double>::max()};
-}
+};
 
 struct PhysicalJointProperties
 {
@@ -83,7 +83,7 @@ public:
     // TODO (xela95): read this value from configuration file
     std::chrono::milliseconds controlUpdatePeriod = std::chrono::milliseconds(1);
 
-    bool setInteractionMode((int axis, yarp::dev::InteractionModeEnum mode);
+    bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode);
     bool setControlMode(int j, int mode);
 };