Fast getting and setting joint angles

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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

fastgetsetdcm.zip

Header: fastgetsetdcm.h

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

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

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

CMakeLists.txt

##
## Copyright (C) 2009 Aldebaran Robotics
##

cmake_minimum_required(VERSION 2.6.4 FATAL_ERROR)
project(fastgetsetdcm)
include("qibuild.cmake")

set(_srcs
    main.cpp
    fastgetsetdcm.h
    fastgetsetdcm.cpp
)

qi_create_lib(fastgetsetdcm SHARED ${_srcs} SUBFOLDER naoqi)

qi_use_lib(fastgetsetdcm ALCOMMON ALMEMORYFASTACCESS)
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