[WIP]Feature/wbcc separate thread #380
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…ontrolThread to wholebodycontrollerThread
Actually, the outputProcess is moved to "new" thread
Nothing happen yet.
…BodyControllerCoreThread
The output of the wholebodycontrollercore is calculated from controllerThread and saved into contextData. The output of the wholebodycontrollercore is updated to the joint on the wholebodycontrollercorethread.
…he wholebody controllercore between the wholebodycontrollercore thread and controllerThread.
This might be eliminated from moving wholebodyControllerCore into New thread. Also, some state just return the null in this method.
…ext and related classes.
…ontrollerCoreThread.
…ntrollerCoreManager`. Adding the ceterOfMassStateProvider into `HumanoidWholeBodyControllerCoreManager`.
… its implementations
… its implementations
The controllerCoreCommand should be saved to some parameter which can be called in highlevelmanager.
…namics. At the first tick, the commandDataHolder is null.
Only the lowlevelOneDoFJointDesiredDataHolder is used.
…RobotContextDataWholeBodyControllerCore. This lets the ControllerCoreOutput from wholebodycontrollercoreThread be shared to controllerThread.
…d to controlThread.
… the ResolveMomentumRateModule in the ControlThread
Beomyeong
changed the title
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[WIP] work for separating WholeBodyControllerCoreThread (ControllerCoreThread)
The controllerCore.compute which was used and called in the control thread is moved and called in the new
AvatarWholeBodyControllerCoreThread.Not all the highlevelcontorllerstates use wholebodycontrollerCore to obtain the desiredJointOutput. Also, some highlevelControlState does not use multi-threading even they call the wholebodycontrollerCore. These should be considered when separating wholebodycontrollercore to new thread.
Because, in the older way, the joinDesiredOutput is updated from controlThread,but it changed to be updated on the wholebodycontrollercorethread.
All the changes for now have been focused to change the walkingcontrollerstate first.