Revision 4dbb1a71

View differences:

examples/yarp_icub/src/icub_data_receiver.cpp
33 33 
    //double timestamp = get_timestamp_ms();
34 34 

  		




  35
  35
  
    
    //publish data to humotion


  		




  
  36
  
    
    printf("\nMMM");


  		




  36
  37
  
    
    for(int i=0; i<positions.size(); i++){


  		




  37
  38
  
    
        icub_jointinterface->fetch_position(i, positions[i], timestamps[i]);


  		




  38
  39
  
    
        icub_jointinterface->fetch_speed(i, velocities[i], timestamps[i]);


  		




  39
  40
  
    
        if (i==iCubJointInterface::ICUB_ID_NECK_PAN){


  		




  40
  
  
    
            printf("\nMMM p=%f v=%f\n",positions[i],velocities[i]);


  		




  
  41
  
    
            //printf("\nMMM p=%f v=%f\n",positions[i],velocities[i]);


  		




  41
  42
  
    
        }


  		




  
  43
  
    
        printf("%d=%f  ", i,velocities[i]);


  		




  42
  44
  
    
    }


  		




  
  45
  
    
    


  		




  
  46
  
    
    printf("\n");


  		




  43
  47
  
    

  		




  44
  48
  
    
    //printf("\n%f %f %f TIME\n", get_timestamp_ms(), timestamps[2], positions[2]);


  		




  45
  49
  
    
    //printf("TIMEDIFF %f\n", get_timestamp_ms() - timestamps[2]);


  		












  

    
      src/server/joint_interface.cpp
    
  





  73
  73
  
    
    //following atomic instructions:


  		




  74
  74
  
    
    mutex::scoped_lock scoped_lock(joint_ts_position_map_access_mutex);


  		




  75
  75
  
    

  		




  76
  
  
    
    printf("> humotion: incoming joint position for joint id 0x%02X = %4.2f (ts=%.2f)\n",joint_id,position,timestamp.to_seconds());


  		




  
  76
  
    
    //printf("> humotion: incoming joint position for joint id 0x%02X = %4.2f (ts=%.2f)\n",joint_id,position,timestamp.to_seconds());


  		




  77
  77
  
    
    joint_ts_position_map[joint_id].insert(timestamp, position);


  		




  78
  78
  
    

  		




  79
  79
  
    
    incoming_position_count++;


  		












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