humotion

//! fetch the latest position and velocity and return the timestamp of that dataset

//! \param joint id

//! \param pointer to position variable

//! \param pointer to veolocity variable

//! \return Timestamp of this dataset

humotion::Timestamp MotionGenerator::get_timestamped_state(int joint_id,

                                                           float *position, float *velocity) {

    humotion::Timestamp stamp = joint_interface->get_ts_position(joint_id).get_last_timestamp();

    *position = joint_interface->get_ts_position(joint_id).get_interpolated_value(stamp);

    *velocity = joint_interface->get_ts_speed(joint_id).get_interpolated_value(stamp);

    return stamp;

}