46 lines
912 B
C++
46 lines
912 B
C++
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#pragma once
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#include <thread>
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// #include "SHM.hpp"
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#include "QuadROSComm.hpp"
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#include "Controller/DistributedIDC.hpp"
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#include "Estimator/QuadEstimator.hpp"
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#include "Planner/ReactivePlanner.hpp"
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class Executor {
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public:
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Executor();
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Executor(const std::string& name);
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~Executor();
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void setUpdateRate(const float& rate);
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void step();
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void run();
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private:
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std::string m_name;
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float m_rate;
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float m_dt;
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int delay_ms = 10;
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void InitClass();
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// SHM m_plant_data;
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std::shared_ptr<QuadROSComm> m_plant_data_ptr;
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Quadruped m_robot;
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// Controller m_controller;
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DistributedIDC m_controller;
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QuadEstimator m_estimator;
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ReactivePlanner m_planner;
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QuadrupedSensorData m_sensor_data;
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QuadrupedCommandData m_cmd_data;
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QuadrupedEstimationData m_est_data;
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QuadrupedPlannerData m_planner_data;
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std::thread m_comm_thread;
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};
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