Revision 2aa96942 src/server/server.cpp

View differences:

src/server/server.cpp
128 128 
        // mw tick
129 129 
        middleware_->tick();
130 130 

  		




  131
  
  
    
        // do some logging


  		




  132
  
  
    
        // controller->dump_angles();


  		




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  134
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        // calculate all targets


  		




  135
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        controller_->calculate_targets();


  		




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  135
  
    
        // do some logging


  		




  
  136
  
    
        middleware_->publish_debug_dataset(controller_->get_debug_data());


  		




  
  137
  
    

  		




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        // publish data to joints


  		




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        controller_->publish_targets();


  		




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