Fast getting and setting joint angles¶
Overview¶
fastGetSetExample module shows how to have quick access (every 10ms) to joint angles values using the DCM.
This is a local module, it must be cross-compiled and sent to the robot.
Warning
This example is quite advanced, and could lead to disastrous results if modified or used incorrectly. Do not try to edit it unless you know what you are doing.
Downloads¶
Whole module¶
Header: fastgetsetdcm.h¶
/// <summary>
/// Example module to use fast method to get/set joints every 10ms with minimum delays.
/// </summary>
#ifndef _FAST_GET_SET_DCM_H
#define _FAST_GET_SET_DCM_H
#include <boost/shared_ptr.hpp>
#include <alcommon/almodule.h>
#include <boost/shared_ptr.hpp>
namespace AL
{
class ALBroker;
class ALMemoryFastAccess;
class DCMProxy;
}
/// <summary>
/// Example module tu use fast method to get/set joints every 10ms with minimum delays.
/// </summary>
class FastGetSetDCM : public AL::ALModule
{
public:
FastGetSetDCM(boost::shared_ptr<AL::ALBroker> pBroker,
const std::string &pName );
virtual ~FastGetSetDCM();
// Start the example
void startLoop();
// Stop the example
void stopLoop();
private:
// Initialisation of ALMemory/DCM link
void init();
// ALMemory fast access
void initFastAccess();
// Connect callback to the DCM post proccess
void connectToDCMloop();
// Callback called by the DCM every 10ms
void synchronisedDCMcallback();
// Create DCM hardness Actuator Alias
void createHardnessActuatorAlias();
// Create DCM Position Actuator Alias
void createPositionActuatorAlias();
// Prepare Command ALValue to send command to actuator
void preparePositionActuatorCommand();
// Set one hardness value to all joint
void setStiffness(const float &stiffnessValue);
// Used for postprocess sync with the DCM
ProcessSignalConnection fDCMPostProcessConnection;
// Sensors names
std::vector<std::string> fSensorKeys;
// Used for fast memory access
boost::shared_ptr<AL::ALMemoryFastAccess> fMemoryFastAccess;
// Store sensor values.
std::vector<float> sensorValues;
boost::shared_ptr<AL::DCMProxy> dcmProxy;
// Used for the test actuator = sensor
std::vector<float> initialJointSensorValues;
// Used to store command to send
AL::ALValue commands;
};
enum SensorType { HEAD_PITCH, HEAD_YAW,
L_ANKLE_PITCH,
L_ANKLE_ROLL,
L_ELBOW_ROLL,
L_ELBOW_YAW,
L_HAND,
L_HIP_PITCH,
L_HIP_ROLL,
L_HIP_YAW_PITCH,
L_KNEE_PITCH,
L_SHOULDER_PITCH,
L_SHOULDER_ROLL,
L_WRIST_YAW,
R_ANKLE_PITCH,
R_ANKLE_ROLL,
R_ELBOW_ROLL,
R_ELBOW_YAW,
R_HAND,
R_HIP_PITCH,
R_HIP_ROLL,
R_KNEE_PITCH,
R_SHOULDER_PITCH,
R_SHOULDER_ROLL,
R_WRIST_YAW,
ACC_X,
ACC_Y,
ACC_Z,
GYR_X,
GYR_Y,
ANGLE_X,
ANGLE_Y,
L_COP_X,
L_COP_Y,
L_TOTAL_WEIGHT,
R_COP_X,
R_COP_Y,
R_TOTAL_WEIGHT};
#endif // _FAST_GET_SET_DCM_H
Source: fastgetsetdcm.cpp¶
/// <summary>
/// Example module to use fast method to get/set joints every 10ms with minimum delays.
/// </summary>
#include "fastgetsetdcm.h"
#include <boost/shared_ptr.hpp>
#include <alcommon/alproxy.h>
#include <alcommon/albroker.h>
#include <alcommon/almodule.h>
#include <alerror/alerror.h>
// Use DCM proxy
#include <alproxies/dcmproxy.h>
// Used to read values of ALMemory directly in RAM
#include <almemoryfastaccess/almemoryfastaccess.h>
#include <boost/bind.hpp>
/// <summary>
/// Example module to use fast method to get/set joints every 10ms with minimum delays.
/// </summary>
/// <param name="broker"> A smart pointer to the broker.</param>
/// <param name="name"> The name of the module. </param>
FastGetSetDCM::FastGetSetDCM(boost::shared_ptr<AL::ALBroker> broker,
const std::string &name )
: AL::ALModule(broker, name )
, fMemoryFastAccess(boost::shared_ptr<AL::ALMemoryFastAccess>(new AL::ALMemoryFastAccess()))
{
setModuleDescription( "Example module to use fast method to get/set joints every 10ms with minimum delays." );
functionName("startLoop", getName() , "start");
BIND_METHOD(FastGetSetDCM::startLoop);
functionName("stopLoop", getName() , "stop");
BIND_METHOD(FastGetSetDCM::stopLoop);
functionName("setStiffness" , getName(),
"change stiffness of all joint");
addParam("value", "new stiffness value from 0.0 to 1.0");
BIND_METHOD(FastGetSetDCM::setStiffness);
// start the example.
// You can remove it and call FastGetSetDCM.startLoop() to start instead.
startLoop();
}
FastGetSetDCM::~FastGetSetDCM()
{
stopLoop();
}
// Start the example
void FastGetSetDCM::startLoop()
{
signed long isDCMRunning;
try
{
// Get the DCM proxy
dcmProxy = getParentBroker()->getDcmProxy();
}
catch (AL::ALError& e)
{
throw ALERROR(getName(), "startLoop()", "Impossible to create DCM Proxy : " + e.toString());
}
// Is the DCM running ?
try
{
isDCMRunning = getParentBroker()->getProxy("ALLauncher")->call<bool>("isModulePresent", std::string("DCM"));
}
catch (AL::ALError& e)
{
throw ALERROR(getName(), "startLoop()", "Error when connecting to DCM : " + e.toString());
}
if (!isDCMRunning)
{
throw ALERROR(getName(), "startLoop()", "Error no DCM running ");
}
init();
connectToDCMloop();
}
// Stop the example
void FastGetSetDCM::stopLoop()
{
setStiffness(0.0f);
// Remove the postProcess call back connection
fDCMPostProcessConnection.disconnect();
}
// Initialisation of ALmemory fast access, DCM commands, Alias, stiffness, ...
void FastGetSetDCM::init()
{
initFastAccess();
createPositionActuatorAlias();
createHardnessActuatorAlias();
setStiffness(0.2f); // Set to 1.0 for maximum stiffness, but only after a test
preparePositionActuatorCommand();
}
// ALMemory fast access
void FastGetSetDCM::initFastAccess()
{
fSensorKeys.clear();
// Here as an example inertial + joints + FSR are read
fSensorKeys.resize(7 + 25 + 6);
// Joints Sensor list
fSensorKeys[HEAD_PITCH] = std::string("Device/SubDeviceList/HeadPitch/Position/Sensor/Value");
fSensorKeys[HEAD_YAW] = std::string("Device/SubDeviceList/HeadYaw/Position/Sensor/Value");
fSensorKeys[L_ANKLE_PITCH] = std::string("Device/SubDeviceList/LAnklePitch/Position/Sensor/Value");
fSensorKeys[L_ANKLE_ROLL] = std::string("Device/SubDeviceList/LAnkleRoll/Position/Sensor/Value");
fSensorKeys[L_ELBOW_ROLL] = std::string("Device/SubDeviceList/LElbowRoll/Position/Sensor/Value");
fSensorKeys[L_ELBOW_YAW] = std::string("Device/SubDeviceList/LElbowYaw/Position/Sensor/Value");
fSensorKeys[L_HAND] = std::string("Device/SubDeviceList/LHand/Position/Sensor/Value");
fSensorKeys[L_HIP_PITCH] = std::string("Device/SubDeviceList/LHipPitch/Position/Sensor/Value");
fSensorKeys[L_HIP_ROLL] = std::string("Device/SubDeviceList/LHipRoll/Position/Sensor/Value");
fSensorKeys[L_HIP_YAW_PITCH] = std::string("Device/SubDeviceList/LHipYawPitch/Position/Sensor/Value");
fSensorKeys[L_KNEE_PITCH] = std::string("Device/SubDeviceList/LKneePitch/Position/Sensor/Value");
fSensorKeys[L_SHOULDER_PITCH] = std::string("Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value");
fSensorKeys[L_SHOULDER_ROLL] = std::string("Device/SubDeviceList/LShoulderRoll/Position/Sensor/Value");
fSensorKeys[L_WRIST_YAW] = std::string("Device/SubDeviceList/LWristYaw/Position/Sensor/Value");
fSensorKeys[R_ANKLE_PITCH] = std::string("Device/SubDeviceList/RAnklePitch/Position/Sensor/Value");
fSensorKeys[R_ANKLE_ROLL] = std::string("Device/SubDeviceList/RAnkleRoll/Position/Sensor/Value");
fSensorKeys[R_ELBOW_ROLL] = std::string("Device/SubDeviceList/RElbowRoll/Position/Sensor/Value");
fSensorKeys[R_ELBOW_YAW] = std::string("Device/SubDeviceList/RElbowYaw/Position/Sensor/Value");
fSensorKeys[R_HAND] = std::string("Device/SubDeviceList/RHand/Position/Sensor/Value");
fSensorKeys[R_HIP_PITCH] = std::string("Device/SubDeviceList/RHipPitch/Position/Sensor/Value");
fSensorKeys[R_HIP_ROLL] = std::string("Device/SubDeviceList/RHipRoll/Position/Sensor/Value");
fSensorKeys[R_KNEE_PITCH] = std::string("Device/SubDeviceList/RKneePitch/Position/Sensor/Value");
fSensorKeys[R_SHOULDER_PITCH] = std::string("Device/SubDeviceList/RShoulderPitch/Position/Sensor/Value");
fSensorKeys[R_SHOULDER_ROLL] = std::string("Device/SubDeviceList/RShoulderRoll/Position/Sensor/Value");
fSensorKeys[R_WRIST_YAW] = std::string("Device/SubDeviceList/RWristYaw/Position/Sensor/Value");
// Inertial sensors
fSensorKeys[ACC_X] = std::string("Device/SubDeviceList/InertialSensor/AccX/Sensor/Value");
fSensorKeys[ACC_Y] = std::string("Device/SubDeviceList/InertialSensor/AccY/Sensor/Value");
fSensorKeys[ACC_Z] = std::string("Device/SubDeviceList/InertialSensor/AccZ/Sensor/Value");
fSensorKeys[GYR_X] = std::string("Device/SubDeviceList/InertialSensor/GyrX/Sensor/Value");
fSensorKeys[GYR_Y] = std::string("Device/SubDeviceList/InertialSensor/GyrY/Sensor/Value");
fSensorKeys[ANGLE_X] = std::string("Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value");
fSensorKeys[ANGLE_Y] = std::string("Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value");
// Some FSR sensors
fSensorKeys[L_COP_X] = std::string("Device/SubDeviceList/LFoot/FSR/CenterOfPressure/X/Sensor/Value");
fSensorKeys[L_COP_Y] = std::string("Device/SubDeviceList/LFoot/FSR/CenterOfPressure/Y/Sensor/Value");
fSensorKeys[L_TOTAL_WEIGHT] = std::string("Device/SubDeviceList/LFoot/FSR/TotalWeight/Sensor/Value");
fSensorKeys[R_COP_X] = std::string("Device/SubDeviceList/RFoot/FSR/CenterOfPressure/X/Sensor/Value");
fSensorKeys[R_COP_Y] = std::string("Device/SubDeviceList/RFoot/FSR/CenterOfPressure/Y/Sensor/Value");
fSensorKeys[R_TOTAL_WEIGHT] = std::string("Device/SubDeviceList/RFoot/FSR/TotalWeight/Sensor/Value");
// Create the fast memory access
fMemoryFastAccess->ConnectToVariables(getParentBroker(), fSensorKeys, false);
}
void FastGetSetDCM::createPositionActuatorAlias()
{
AL::ALValue jointAliasses;
jointAliasses.arraySetSize(2);
jointAliasses[0] = std::string("jointActuator"); // Alias for all 25 joint actuators
jointAliasses[1].arraySetSize(25);
// Joints actuator list
jointAliasses[1][HEAD_PITCH] = std::string("Device/SubDeviceList/HeadPitch/Position/Actuator/Value");
jointAliasses[1][HEAD_YAW] = std::string("Device/SubDeviceList/HeadYaw/Position/Actuator/Value");
jointAliasses[1][L_ANKLE_PITCH] = std::string("Device/SubDeviceList/LAnklePitch/Position/Actuator/Value");
jointAliasses[1][L_ANKLE_ROLL] = std::string("Device/SubDeviceList/LAnkleRoll/Position/Actuator/Value");
jointAliasses[1][L_ELBOW_ROLL] = std::string("Device/SubDeviceList/LElbowRoll/Position/Actuator/Value");
jointAliasses[1][L_ELBOW_YAW] = std::string("Device/SubDeviceList/LElbowYaw/Position/Actuator/Value");
jointAliasses[1][L_HAND] = std::string("Device/SubDeviceList/LHand/Position/Actuator/Value");
jointAliasses[1][L_HIP_PITCH] = std::string("Device/SubDeviceList/LHipPitch/Position/Actuator/Value");
jointAliasses[1][L_HIP_ROLL] = std::string("Device/SubDeviceList/LHipRoll/Position/Actuator/Value");
jointAliasses[1][L_HIP_YAW_PITCH] = std::string("Device/SubDeviceList/LHipYawPitch/Position/Actuator/Value");
jointAliasses[1][L_KNEE_PITCH] = std::string("Device/SubDeviceList/LKneePitch/Position/Actuator/Value");
jointAliasses[1][L_SHOULDER_PITCH] = std::string("Device/SubDeviceList/LShoulderPitch/Position/Actuator/Value");
jointAliasses[1][L_SHOULDER_ROLL] = std::string("Device/SubDeviceList/LShoulderRoll/Position/Actuator/Value");
jointAliasses[1][L_WRIST_YAW] = std::string("Device/SubDeviceList/LWristYaw/Position/Actuator/Value");
jointAliasses[1][R_ANKLE_PITCH] = std::string("Device/SubDeviceList/RAnklePitch/Position/Actuator/Value");
jointAliasses[1][R_ANKLE_ROLL] = std::string("Device/SubDeviceList/RAnkleRoll/Position/Actuator/Value");
jointAliasses[1][R_ELBOW_ROLL] = std::string("Device/SubDeviceList/RElbowRoll/Position/Actuator/Value");
jointAliasses[1][R_ELBOW_YAW] = std::string("Device/SubDeviceList/RElbowYaw/Position/Actuator/Value");
jointAliasses[1][R_HAND] = std::string("Device/SubDeviceList/RHand/Position/Actuator/Value");
jointAliasses[1][R_HIP_PITCH] = std::string("Device/SubDeviceList/RHipPitch/Position/Actuator/Value");
jointAliasses[1][R_HIP_ROLL] = std::string("Device/SubDeviceList/RHipRoll/Position/Actuator/Value");
jointAliasses[1][R_KNEE_PITCH] = std::string("Device/SubDeviceList/RKneePitch/Position/Actuator/Value");
jointAliasses[1][R_SHOULDER_PITCH] = std::string("Device/SubDeviceList/RShoulderPitch/Position/Actuator/Value");
jointAliasses[1][R_SHOULDER_ROLL] = std::string("Device/SubDeviceList/RShoulderRoll/Position/Actuator/Value");
jointAliasses[1][R_WRIST_YAW] = std::string("Device/SubDeviceList/RWristYaw/Position/Actuator/Value");
// Create alias
try
{
dcmProxy->createAlias(jointAliasses);
}
catch (const AL::ALError &e)
{
throw ALERROR(getName(), "createPositionActuatorAlias()", "Error when creating Alias : " + e.toString());
}
}
void FastGetSetDCM::createHardnessActuatorAlias()
{
AL::ALValue jointAliasses;
// Alias for all joint stiffness
jointAliasses.clear();
jointAliasses.arraySetSize(2);
jointAliasses[0] = std::string("jointStiffness"); // Alias for all 25 actuators
jointAliasses[1].arraySetSize(25);
// stiffness list
jointAliasses[1][HEAD_PITCH] = std::string("Device/SubDeviceList/HeadPitch/Hardness/Actuator/Value");
jointAliasses[1][HEAD_YAW] = std::string("Device/SubDeviceList/HeadYaw/Hardness/Actuator/Value");
jointAliasses[1][L_ANKLE_PITCH] = std::string("Device/SubDeviceList/LAnklePitch/Hardness/Actuator/Value");
jointAliasses[1][L_ANKLE_ROLL] = std::string("Device/SubDeviceList/LAnkleRoll/Hardness/Actuator/Value");
jointAliasses[1][L_ELBOW_ROLL] = std::string("Device/SubDeviceList/LElbowRoll/Hardness/Actuator/Value");
jointAliasses[1][L_ELBOW_YAW] = std::string("Device/SubDeviceList/LElbowYaw/Hardness/Actuator/Value");
jointAliasses[1][L_HAND] = std::string("Device/SubDeviceList/LHand/Hardness/Actuator/Value");
jointAliasses[1][L_HIP_PITCH] = std::string("Device/SubDeviceList/LHipPitch/Hardness/Actuator/Value");
jointAliasses[1][L_HIP_ROLL] = std::string("Device/SubDeviceList/LHipRoll/Hardness/Actuator/Value");
jointAliasses[1][L_HIP_YAW_PITCH] = std::string("Device/SubDeviceList/LHipYawPitch/Hardness/Actuator/Value");
jointAliasses[1][L_KNEE_PITCH] = std::string("Device/SubDeviceList/LKneePitch/Hardness/Actuator/Value");
jointAliasses[1][L_SHOULDER_PITCH] = std::string("Device/SubDeviceList/LShoulderPitch/Hardness/Actuator/Value");
jointAliasses[1][L_SHOULDER_ROLL] = std::string("Device/SubDeviceList/LShoulderRoll/Hardness/Actuator/Value");
jointAliasses[1][L_WRIST_YAW] = std::string("Device/SubDeviceList/LWristYaw/Hardness/Actuator/Value");
jointAliasses[1][R_ANKLE_PITCH] = std::string("Device/SubDeviceList/RAnklePitch/Hardness/Actuator/Value");
jointAliasses[1][R_ANKLE_ROLL] = std::string("Device/SubDeviceList/RAnkleRoll/Hardness/Actuator/Value");
jointAliasses[1][R_ELBOW_ROLL] = std::string("Device/SubDeviceList/RElbowRoll/Hardness/Actuator/Value");
jointAliasses[1][R_ELBOW_YAW] = std::string("Device/SubDeviceList/RElbowYaw/Hardness/Actuator/Value");
jointAliasses[1][R_HAND] = std::string("Device/SubDeviceList/RHand/Hardness/Actuator/Value");
jointAliasses[1][R_HIP_PITCH] = std::string("Device/SubDeviceList/RHipPitch/Hardness/Actuator/Value");
jointAliasses[1][R_HIP_ROLL] = std::string("Device/SubDeviceList/RHipRoll/Hardness/Actuator/Value");
jointAliasses[1][R_KNEE_PITCH] = std::string("Device/SubDeviceList/RKneePitch/Hardness/Actuator/Value");
jointAliasses[1][R_SHOULDER_PITCH] = std::string("Device/SubDeviceList/RShoulderPitch/Hardness/Actuator/Value");
jointAliasses[1][R_SHOULDER_ROLL] = std::string("Device/SubDeviceList/RShoulderRoll/Hardness/Actuator/Value");
jointAliasses[1][R_WRIST_YAW] = std::string("Device/SubDeviceList/RWristYaw/Hardness/Actuator/Value");
// Create alias
try
{
dcmProxy->createAlias(jointAliasses);
}
catch (const AL::ALError &e)
{
throw ALERROR(getName(), "createHardnessActuatorAlias()", "Error when creating Alias : " + e.toString());
}
}
void FastGetSetDCM::preparePositionActuatorCommand()
{
commands.arraySetSize(6);
commands[0] = std::string("jointActuator");
commands[1] = std::string("ClearAll"); // Erase all previous commands
commands[2] = std::string("time-separate");
commands[3] = 0;
commands[4].arraySetSize(1);
//commands[4][0] Will be the new time
commands[5].arraySetSize(25); // For all joints
for (int i=0; i<25; i++)
{
commands[5][i].arraySetSize(1);
//commands[5][i][0] will be the new angle
}
}
void FastGetSetDCM::setStiffness(const float &stiffnessValue)
{
AL::ALValue stiffnessCommands;
int DCMtime;
// increase stiffness with the "jointStiffness" Alias created at initialisation
try
{
// Get time : return the time in 1 seconde
DCMtime = dcmProxy->getTime(1000);
}
catch (const AL::ALError &e)
{
throw ALERROR(getName(), "setStiffness()", "Error on DCM getTime : " + e.toString());
}
// Prepare one dcm command:
// it will linearly "Merge" all joint stiffness
// from last value to "stiffnessValue" in 1 seconde
stiffnessCommands.arraySetSize(3);
stiffnessCommands[0] = std::string("jointStiffness");
stiffnessCommands[1] = std::string("Merge");
stiffnessCommands[2].arraySetSize(1);
stiffnessCommands[2][0].arraySetSize(2);
stiffnessCommands[2][0][0] = stiffnessValue;
stiffnessCommands[2][0][1] = DCMtime;
try
{
dcmProxy->set(stiffnessCommands);
}
catch (const AL::ALError &e)
{
throw ALERROR(getName(), "setStiffness()", "Error when sending stiffness to DCM : " + e.toString());
}
}
void FastGetSetDCM::connectToDCMloop()
{
// Get all values from ALMemory using fastaccess
fMemoryFastAccess->GetValues(sensorValues);
// Save all sensor position for the sensor=actuator test
for (int i=0; i<25; i++)
{
initialJointSensorValues.push_back(sensorValues[i]);
}
// Connect callback to the DCM post proccess
try
{
fDCMPostProcessConnection =
getParentBroker()->getProxy("DCM")->getModule()->atPostProcess(boost::bind(&FastGetSetDCM::synchronisedDCMcallback, this));
}
catch (const AL::ALError &e)
{
throw ALERROR(getName(), "connectToDCMloop()", "Error when connecting to DCM postProccess: " + e.toString());
}
}
/**
* WARNING
*
* Once this method is connected to DCM postprocess
* it will be called in Real Time every 10 milliseconds from DCM thread
* Dynamic allocation and system call are strictly forbidden in this method
* Computation time in this section must remain as short as possible to prevent
* erratic move or joint getting loose.
*
*/
// Send the new values of all joints to the DCM.
// Note : a joint could be ignore unsing a NAN value.
// Note : do not forget to set stiffness
void FastGetSetDCM::synchronisedDCMcallback()
{
int DCMtime;
try
{
// Get absolute time, at 0 ms in the future ( i.e. now )
DCMtime = dcmProxy->getTime(0);
}
catch (const AL::ALError &e)
{
throw ALERROR(getName(), "synchronisedDCMcallback()", "Error on DCM getTime : " + e.toString());
}
commands[4][0] = DCMtime; // To be used in the next cycle
for (int i=0; i<25; i++)
{
// new actuator value = first Sensor value
commands[5][i][0] = initialJointSensorValues[i];
}
// Uncomment this to activate
// Left Arm mirror Right Arm
// Get all values from ALMemory using fastaccess
fMemoryFastAccess->GetValues(sensorValues);
commands[5][L_SHOULDER_PITCH][0] = sensorValues[R_SHOULDER_PITCH];
commands[5][L_SHOULDER_ROLL][0] = - sensorValues[R_SHOULDER_ROLL];
commands[5][L_ELBOW_YAW][0] = - sensorValues[R_ELBOW_YAW];
commands[5][L_ELBOW_ROLL][0] = - sensorValues[R_ELBOW_ROLL];
try
{
dcmProxy->setAlias(commands);
}
catch (const AL::ALError &e)
{
throw ALERROR(getName(), "synchronisedDCMcallback()", "Error when sending command to DCM : " + e.toString());
}
}
Main: main.cpp¶
#include <signal.h>
#include <boost/shared_ptr.hpp>
#include <alcommon/albroker.h>
#include <alcommon/almodule.h>
#include <alcommon/albrokermanager.h>
#include <alcommon/altoolsmain.h>
#include "fastgetsetdcm.h"
#ifdef _WIN32
# define ALCALL __declspec(dllexport)
#else
# define ALCALL
#endif
extern "C"
{
ALCALL int _createModule(boost::shared_ptr<AL::ALBroker> pBroker)
{
// init broker with the main broker instance
// from the parent executable
AL::ALBrokerManager::setInstance(pBroker->fBrokerManager.lock());
AL::ALBrokerManager::getInstance()->addBroker(pBroker);
// create module instances
AL::ALModule::createModule<FastGetSetDCM>(pBroker,"FastGetSetDCM" );
return 0;
}
ALCALL int _closeModule()
{
return 0;
}
} // extern "C"
CMakeLists.txt¶
##
## Copyright (C) 2009 Aldebaran Robotics
##
cmake_minimum_required(VERSION 2.6.4 FATAL_ERROR)
project(fastgetsetdcm)
find_package(qibuild)
set(_srcs
main.cpp
fastgetsetdcm.h
fastgetsetdcm.cpp
)
qi_create_lib(fastgetsetdcm SHARED ${_srcs} SUBFOLDER naoqi)
qi_use_lib(fastgetsetdcm ALCOMMON ALPROXIES ALMEMORYFASTACCESS)
