Revision: 7521
http://playerstage.svn.sourceforge.net/playerstage/?rev=7521&view=rev
Author: hsujohnhsu
Date: 2009-03-17 01:38:53 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
* update rate control for Sensor.
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.cc
code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.hh
Modified: code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.cc 2009-03-17
01:37:53 UTC (rev 7520)
+++ code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.cc 2009-03-17
01:38:53 UTC (rev 7521)
@@ -33,6 +33,9 @@
#include "ControllerFactory.hh"
#include "Simulator.hh"
#include "Sensor.hh"
+#include "Simulator.hh"
+#include "PhysicsEngine.hh"
+#include "Global.hh"
using namespace gazebo;
@@ -71,6 +74,14 @@
this->LoadController( node->GetChildByNSPrefix("controller") );
this->LoadChild(node);
+
+ double updateRate = node->GetDouble("updateRate", 0, 0);
+ if (updateRate == 0)
+ this->updatePeriod = 0.0; // no throttling if updateRate is 0
+ else
+ this->updatePeriod = 1.0 / updateRate;
+ this->lastUpdate = Simulator::Instance()->GetSimTime();
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -104,14 +115,29 @@
/// Update the sensor
void Sensor::Update()
{
- if (this->lastUpdate + this->updatePeriod <=
Simulator::Instance()->GetSimTime())
+
+#ifdef TIMING
+ double tmpT4 = Simulator::Instance()->GetWallTime();
+#endif
+
+
+
+ double physics_dt = World::Instance()->GetPhysicsEngine()->GetStepTime();
+ if
(round((Simulator::Instance()->GetSimTime()-this->lastUpdate-this->updatePeriod)/physics_dt)
>= 0)
{
this->UpdateChild();
this->lastUpdate = Simulator::Instance()->GetSimTime();
}
+ // update any controllers that are children of sensors, e.g. ros_bumper
if (this->controller)
this->controller->Update();
+
+#ifdef TIMING
+ double tmpT5 = Simulator::Instance()->GetWallTime();
+ std::cout << " Sensor::Update (" << this->GetName() << ") dt
(" << tmpT5-tmpT4 << ")" << std::endl;
+#endif
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -185,4 +211,11 @@
this->active = value;
}
+////////////////////////////////////////////////////////////////////////////////
+/// \brief Set whether the sensor is active or not
+bool Sensor::IsActive()
+{
+ return this->active;
+}
+
Modified: code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.hh
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.hh 2009-03-17
01:37:53 UTC (rev 7520)
+++ code/gazebo/branches/ogre-1.4.9/server/sensors/Sensor.hh 2009-03-17
01:38:53 UTC (rev 7521)
@@ -70,6 +70,7 @@
/// \brief Set whether the sensor is active or not
public: void SetActive(bool value);
+ public: bool IsActive();
/// \brief Load the child sensor
protected: virtual void LoadChild(XMLConfigNode * /*node*/) {};
@@ -101,7 +102,6 @@
protected: double lastUpdate;
protected: std::string typeName;
};
-
/// \}
}
#endif
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
easily build your RIAs with Flex Builder, the Eclipse(TM)based development
software that enables intelligent coding and step-through debugging.
Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
