make mc_rtde realtime : initial commit

isri-aist · Feb 17, 2025 · ef4273e · ef4273e
1 parent c9c0c4b
commit ef4273e
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Showing 8 changed files with 514 additions and 570 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -5,9 +5,9 @@ find_package(mc_rtc REQUIRED)
 find_package(Boost REQUIRED COMPONENTS program_options thread)
 find_package(ur_rtde REQUIRED)
 
-set(HEADERS MCControlRtde.h URControl.h ControlMode.h)
+set(HEADERS URControlType.h URControl.h ControlMode.h thread.h)
 
-set(SOURCES main.cpp URControl.cpp MCControlRtde.cpp)
+set(SOURCES main.cpp URControl.cpp)
 
 add_executable(${PROGRAM_NAME} ${SOURCES} ${HEADERS})
 target_link_libraries(${PROGRAM_NAME} PUBLIC mc_rtc::mc_control

diff --git a/src/MCControlRtde.cpp b/src/MCControlRtde.cpp
diff --git a/src/MCControlRtde.h b/src/MCControlRtde.h