Revision: 8865
http://playerstage.svn.sourceforge.net/playerstage/?rev=8865&view=rev
Author: hsujohnhsu
Date: 2010-09-02 00:45:39 +0000 (Thu, 02 Sep 2010)
Log Message:
-----------
Hardwire so simulation time starts at DT rather than 0, since ros use t=0 as a
special case.
Modified Paths:
--------------
code/gazebo/branches/wg/server/Simulator.cc
Modified: code/gazebo/branches/wg/server/Simulator.cc
===================================================================
--- code/gazebo/branches/wg/server/Simulator.cc 2010-09-02 00:43:39 UTC (rev
8864)
+++ code/gazebo/branches/wg/server/Simulator.cc 2010-09-02 00:45:39 UTC (rev
8865)
@@ -656,24 +656,22 @@
world->GetPhysicsEngine()->InitForThread();
- Time step = world->GetPhysicsEngine()->GetStepTime();
- double physicsUpdateRate = world->GetPhysicsEngine()->GetUpdateRate();
- Time physicsUpdatePeriod = 1.0 / physicsUpdateRate;
-
bool userStepped;
Time diffTime;
Time currTime;
Time lastTime = this->GetRealTime();
struct timespec req, rem;
+ // hack for ROS, since ROS uses t=0 for special purpose
+ this->simTime = world->GetPhysicsEngine()->GetStepTime();
while (!this->userQuit)
{
//DiagnosticTimer timer("PhysicsLoop Timer ");
-
-
currTime = this->GetRealTime();
+ // performance wise, this is not ideal, move this outside of while loop
and use signals and slots.
+ Time step = world->GetPhysicsEngine()->GetStepTime();
userStepped = false;
if (this->IsPaused())
this->pauseTime += step;
@@ -697,6 +695,8 @@
req.tv_sec = 0;
req.tv_nsec = 10000;
+ double physicsUpdateRate = world->GetPhysicsEngine()->GetUpdateRate();
+ Time physicsUpdatePeriod = 1.0 / physicsUpdateRate;
// If the physicsUpdateRate < 0, then we should try to match the
// update rate to real time
if ( physicsUpdateRate < 0 &&
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