Revision 2aa96942 src/server/controller.cpp

View differences:

src/server/controller.cpp
39 39 

  		




  40
  40
  
    
using humotion::server::Controller;


  		




  41
  41
  
    
using humotion::server::Config;


  		




  
  42
  
    
using humotion::server::debug_data_t;


  		




  42
  43
  
    

  		




  43
  44
  
    
//! constructor


  		




  44
  45
  
    
Controller::Controller(JointInterface *j) {


  		




  ......




  82
  83
  
    
void Controller::calculate_targets() {


  		




  83
  84
  
    
    Controller::motion_generator_vector_t::iterator it;


  		




  84
  85
  
    
    for (it = motion_generator_vector_.begin(); it < motion_generator_vector_.end(); it++) {


  		




  85
  
  
    
        (*it)->calculate_targets();


  		




  
  86
  
    
        MotionGenerator *mg = *it;


  		




  
  87
  
    
        // calculate targets


  		




  
  88
  
    
        mg->calculate_targets();


  		




  86
  89
  
    
    }


  		




  87
  90
  
    
}


  		




  88
  91
  
    

  		




  
  92
  
    
debug_data_t Controller::get_debug_data() {


  		




  
  93
  
    
    debug_data_t debug_data;


  		




  
  94
  
    

  		




  
  95
  
    
    Controller::motion_generator_vector_t::iterator it;


  		




  
  96
  
    
    for (it = motion_generator_vector_.begin(); it < motion_generator_vector_.end(); it++) {


  		




  
  97
  
    
        MotionGenerator *mg = *it;


  		




  
  98
  
    
        // fetch and append debug data


  		




  
  99
  
    
        debug_data_t dataset = mg->get_debug_data();


  		




  
  100
  
    
        debug_data.insert(dataset.begin(), dataset.end());


  		




  
  101
  
    
    }


  		




  
  102
  
    

  		




  
  103
  
    
    return debug_data;


  		




  
  104
  
    
}


  		




  
  105
  
    

  		




  89
  106
  
    
//! publish all target angles to the devices:


  		




  90
  107
  
    
//! NOTE: this is done in an extra loop to have a low delay between consequent sets:


  		




  91
  108
  
    
void Controller::publish_targets() {


  		












Also available in:  Unified diff