Revision ea29304b src/server/joint_interface.cpp

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src/server/joint_interface.cpp
80 80 
    //following atomic instructions:
81 81 
    mutex::scoped_lock scoped_lock(joint_ts_position_map_access_mutex);
82 82 

  		




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


  		




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


  		




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


  		




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    incoming_position_count++;


  		




  ......




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//! \param joint name


  		




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//! \param speed


  		




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//! \param timestamp when the position was measured


  		




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void JointInterface::store_incoming_speed(int joint_id, float speed, Timestamp timestamp){


  		




  
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void JointInterface::store_incoming_velocity(int joint_id, float velocity, Timestamp timestamp){


  		




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    //lock the tsd_list for this access. by doing this we assure


  		




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    //that no other thread accessing this element can diturb the


  		




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    //following atomic instructions:


  		




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    mutex::scoped_lock scoped_lock(joint_ts_speed_map_access_mutex);


  		




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


  		




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    joint_ts_speed_map[joint_id].insert(timestamp, speed);


  		




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


  		




  
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    joint_ts_speed_map[joint_id].insert(timestamp, velocity);


  		




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}


  		




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//! return the timestamped float for the given joints position


  		












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