Class DataBuffer

HomieDeploy/unitree_sdk2/g1_control.cpp:41–61

template <typename T>
class DataBuffer {
 public:
  void SetData(const T &newData) {
    std::unique_lock<std::shared_mutex> lock(mutex);
    data = std::make_shared<T>(newData);
  }

  std::shared_ptr<const T> GetData() {
    std::shared_lock<std::shared_mutex> lock(mutex);
    return data ? data : nullptr;
  }

  void Clear() {
    std::unique_lock<std::shared_mutex> lock(mutex);
    data = nullptr;
  }

 private:
  std::shared_ptr<T> data;
  std::shared_mutex mutex;
};

struct ImuState {
  std::array<float, 3> rpy = {};