Commit c195a7f5 authored by Olivier Stasse's avatar 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
...@@ -71,6 +71,8 @@ void SoTTalosController::init() ...@@ -71,6 +71,8 @@ void SoTTalosController::init()
boost::unique_lock<boost::mutex> lock(mut); boost::unique_lock<boost::mutex> lock(mut);
cond.wait(lock); cond.wait(lock);
double ts = ros::param::param<double> ("/sot_controller/dt", SoTTalosDevice::TIMESTEP_DEFAULT);
device_.timeStep(ts);
} }
SoTTalosController::~SoTTalosController() SoTTalosController::~SoTTalosController()
......
...@@ -53,7 +53,7 @@ ...@@ -53,7 +53,7 @@
using namespace std; using namespace std;
const double SoTTalosDevice::TIMESTEP_DEFAULT = 0.005; const double SoTTalosDevice::TIMESTEP_DEFAULT = 0.001;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(SoTTalosDevice,"DeviceTalos"); DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(SoTTalosDevice,"DeviceTalos");
......
...@@ -56,6 +56,8 @@ dgsot::Device ...@@ -56,6 +56,8 @@ dgsot::Device
void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut); void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
void timeStep (double ts) { timestep_ = ts; }
protected: protected:
/// \brief Current integration step. /// \brief Current integration step.
......
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