42 lines
1.2 KiB
C
42 lines
1.2 KiB
C
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//
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// Created by linbo on 2025/11/11.
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//
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#ifndef CMVR_ES_SOVLER_INTERFACE_H
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#define CMVR_ES_SOVLER_INTERFACE_H
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#include <mutex>
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#include "rapidxml/xml_parser.h"
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#include "utils/solver/qp_solver.h"
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#include "utils/base/os.h"
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#include "utils/base/timer.h"
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#include "utils/base/ring_buffer.h"
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namespace cmvr::device
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{
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template<int DOF>
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class SolverInterface
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{
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public:
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SolverInterface(const SolverInterface&) = delete;
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SolverInterface& operator=(const SolverInterface&) = delete;
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static SolverInterface& getInstance(const XmlNode& cfg);
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static SolverInterface& getInstance();
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static void destroyInstance();
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private:
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explicit SolverInterface(const XmlNode &cfg);
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private:
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XmlNode cfg_;
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static std::once_flag init_flag_;
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static std::shared_ptr<SolverInterface> instance_;
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std::vector<std::string> joint_names_;
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std::vector<std::string> link_names_;
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std::shared_ptr<cmvr::dyn::State<DOF>> m_state_;
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std::shared_ptr<cmvr::dyn::Robot<DOF>> m_robot_;
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std::shared_ptr<cmvr::ctrl::QPSolver<DOF>> m_cctrl_;
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};
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}
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#endif //CMVR_ES_SOVLER_INTERFACE_H
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