Prepare GenericSystem for other interface data types #2571
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## master #2571 +/- ##
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+ Coverage 89.40% 89.46% +0.06%
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Files 151 151
Lines 17024 17047 +23
Branches 1420 1410 -10
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+ Hits 15220 15251 +31
+ Misses 1250 1241 -9
- Partials 554 555 +1
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This reverts commit afc5c26.
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saikishor
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Oct 14, 2025
Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
saikishor
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Oct 15, 2025
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I rewrote the GenericSystem to let the resource_manager handle the value storage. This enables now the support of other data_types than double.
The system now uses the initial values which are automatically set from the URDF. This triggers some behavior change if, e.g., for velocities, no initial values are set and the handles are initialized with NaN. But dynamics calculation afterwards is fixed in this case.
Other minimal behavior changes:
position_state_following_offsetto initial_values in on_activate (has only effect if an initial_value is given)The current version iterates over the member variables of the HardwareComponentInterface instead of preallocating the values beforehand. I benchmarked the execution time with a config of 230 interfaces, and it increased from 2us to only 5us. I think this is negligible.