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Stack Of Tasks
sot-talos
Commits
c195a7f5
Commit
c195a7f5
authored
May 09, 2018
by
Olivier Stasse
Browse files
Merge branch 'master' into 'master'
Use ROS param /sot_controller/dt See merge request pyrene-dev/sot-talos!1
parents
b8160279
9b560c64
Changes
3
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Side-by-side
src/sot-talos-controller.cpp
View file @
c195a7f5
...
...
@@ -71,6 +71,8 @@ void SoTTalosController::init()
boost
::
unique_lock
<
boost
::
mutex
>
lock
(
mut
);
cond
.
wait
(
lock
);
double
ts
=
ros
::
param
::
param
<
double
>
(
"/sot_controller/dt"
,
SoTTalosDevice
::
TIMESTEP_DEFAULT
);
device_
.
timeStep
(
ts
);
}
SoTTalosController
::~
SoTTalosController
()
...
...
src/sot-talos-device.cpp
View file @
c195a7f5
...
...
@@ -53,7 +53,7 @@
using
namespace
std
;
const
double
SoTTalosDevice
::
TIMESTEP_DEFAULT
=
0.00
5
;
const
double
SoTTalosDevice
::
TIMESTEP_DEFAULT
=
0.00
1
;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN
(
SoTTalosDevice
,
"DeviceTalos"
);
...
...
src/sot-talos-device.hh
View file @
c195a7f5
...
...
@@ -56,6 +56,8 @@ dgsot::Device
void
getControl
(
std
::
map
<
std
::
string
,
dgsot
::
ControlValues
>
&
anglesOut
);
void
timeStep
(
double
ts
)
{
timestep_
=
ts
;
}
protected:
/// \brief Current integration step.
...
...
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