Revision 4dbb1a71 examples/yarp_icub/src/icub_data_receiver.cpp

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

  		




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    //publish data to humotion


  		




  
  36
  
    
    printf("\nMMM");


  		




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


  		




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


  		




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


  		




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        if (i==iCubJointInterface::ICUB_ID_NECK_PAN){


  		




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


  		




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


  		




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        }


  		




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


  		




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    }


  		




  
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    printf("\n");


  		




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


  		




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


  		












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