From 009273bf66b8a6ac5b6ef5944767249dde3e0628 Mon Sep 17 00:00:00 2001
From: Joschua Gosda <joschua.gosda@control.lth.se>
Date: Thu, 19 May 2022 11:42:16 +0200
Subject: [PATCH] tried handing over shared model ptr directly but cannot be
given to python cuz of its type
---
c++/include/gpm.hpp | 2 +-
c++/include/loadKinematicModel.hpp | 7 +++----
c++/src/gpm.cpp | 5 ++---
c++/src/loadKinematicModel.cpp | 14 +++++++-------
c++/src/main.cpp | 4 ++--
5 files changed, 15 insertions(+), 17 deletions(-)
diff --git a/c++/include/gpm.hpp b/c++/include/gpm.hpp
index ca063b9..4d367ee 100644
--- a/c++/include/gpm.hpp
+++ b/c++/include/gpm.hpp
@@ -3,4 +3,4 @@
std::pair<Eigen::Matrix<double, 7, 1>, Eigen::Matrix<double, 6, 1>> gpm(Eigen::Matrix<double, 6, 1> &desPose, Eigen::Matrix<double, 6, 1> &desVelocity,
-Eigen::Matrix<double, 7, 1> &jointAngles, Eigen::Matrix<double, 7, 1> &jointVelocity, void * kinematic_ptr);
+Eigen::Matrix<double, 7, 1> &jointAngles, Eigen::Matrix<double, 7, 1> &jointVelocity, std::shared_ptr<rl::mdl::Model> model);
diff --git a/c++/include/loadKinematicModel.hpp b/c++/include/loadKinematicModel.hpp
index ca6d3ad..b6be6d0 100644
--- a/c++/include/loadKinematicModel.hpp
+++ b/c++/include/loadKinematicModel.hpp
@@ -4,10 +4,9 @@ class Arm {
public:
Arm(std::string path);
- void* get_pointer2arm();
+ std::shared_ptr<rl::mdl::Model> get_pointer2arm();
private:
- rl::mdl::Kinematic* kin_pointer;
- rl::mdl::Kinematic kin_model;
- void* void_pointer;
+ //rl::mdl::Kinematic kin_model;
+ std::shared_ptr<rl::mdl::Model> model;
};
diff --git a/c++/src/gpm.cpp b/c++/src/gpm.cpp
index 6967410..4aac275 100644
--- a/c++/src/gpm.cpp
+++ b/c++/src/gpm.cpp
@@ -11,12 +11,11 @@
std::pair<Eigen::Matrix<double, 7, 1>, Eigen::Matrix<double, 6, 1>> gpm(Eigen::Matrix<double, 6, 1> &desPose, Eigen::Matrix<double, 6, 1> &desVelocity,
-Eigen::Matrix<double, 7, 1> &jointAngles, Eigen::Matrix<double, 7, 1> &jointVelocity, void * kinematic_ptr) {
+Eigen::Matrix<double, 7, 1> &jointAngles, Eigen::Matrix<double, 7, 1> &jointVelocity, std::shared_ptr<rl::mdl::Model> model) {
+ rl::mdl::Kinematic* kinematic = dynamic_cast<rl::mdl::Kinematic*>(model.get());
// FORWARD KINEMATICS
- rl::mdl::Kinematic* kinematic = (rl::mdl::Kinematic*) kinematic_ptr;
- std::cout << "adress of pointer gpm " << kinematic_ptr << std::endl;
//std::cout << "pointer in gpm" << kinematic_ptr << std::endl;
diff --git a/c++/src/loadKinematicModel.cpp b/c++/src/loadKinematicModel.cpp
index 553ad68..856f00a 100644
--- a/c++/src/loadKinematicModel.cpp
+++ b/c++/src/loadKinematicModel.cpp
@@ -7,15 +7,15 @@
Arm::Arm(std::string path){
rl::mdl::UrdfFactory factory;
- std::shared_ptr<rl::mdl::Model> model(factory.create(path));
- kin_pointer = dynamic_cast<rl::mdl::Kinematic*>(model.get());
- kin_model = *(kin_pointer);
- rl::mdl::Kinematic* tmp_pointer = &kin_model;
- void_pointer = (void*) tmp_pointer;
- std::cout << "adress of pointer load " << void_pointer << std::endl;
+ std::shared_ptr<rl::mdl::Model> model_tmp(factory.create(path));
+ model = model_tmp;
+
+
+ //std::cout << "adress of pointer load " << void_pointer << std::endl;
}
-void* Arm::get_pointer2arm() {return void_pointer;}
+std::shared_ptr<rl::mdl::Model> Arm::get_pointer2arm() {return model;}
+
/* class Arm {
public:
diff --git a/c++/src/main.cpp b/c++/src/main.cpp
index b6a4228..43be50a 100644
--- a/c++/src/main.cpp
+++ b/c++/src/main.cpp
@@ -24,7 +24,7 @@ int main(int, char**) {
rl::mdl::Kinematic* kinematic = dynamic_cast<rl::mdl::Kinematic*>(model.get());
Arm right_arm("/home/joschua/Coding/forceControl/master-project/c++/models/urdf/yumi_right.urdf");
- void* test_pointer = right_arm.get_pointer2arm();
+ std::shared_ptr<rl::mdl::Model> abc = right_arm.get_pointer2arm();
// Is Values
Eigen::Matrix<double, 6, 1> actualPosition;
@@ -44,7 +44,7 @@ int main(int, char**) {
desVelocity << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
std::pair<Eigen::Matrix<double, 7, 1>, Eigen::Matrix<double, 6, 1>> result;
- result = gpm(desPose, desVelocity, jointAngles, jointVelocity, test_pointer);
+ result = gpm(desPose, desVelocity, jointAngles, jointVelocity, abc);
std::cout << "desired joint values: \n" << result.first << std::endl;
std::cout << "current pose: \n" << result.second << std::endl;
--
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