Controller with hierarchical periodic processing

[mmurooka]

I would like to run another computation process (e.g. MPC-based trajectory planning) in mc_rtc controller with a period longer than the control period. If you know of a good implementation or an example, could you please let me know?

For example, the control period is 4 msec and the MPC period is assumed to be 20 msec. The naïve idea I have is to create a thread for MPC and do the MPC computation in a "while loop", but I am not sure if synchronization and data transfer with the controller thread will be handled well.