motion_adaption_node.cpp
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00001 /*
00002  * Software License Agreement (Modified BSD License)
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00004  *  Copyright (c) 2011, PAL Robotics, S.L.
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00007  *  Redistribution and use in source and binary forms, with or without
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00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
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00034 
00038 #include <ros/ros.h>
00039 #include "motion_adaption/motion_adaption.h"
00040 
00051 int main(int argc, char** argv)
00052 {
00053   ros::init(argc, argv, "motion_adaption_node");
00054   ros::NodeHandle nh;
00055   ros::Rate loop_rate(30.0);
00056   unsigned int loop_count = 1;
00057   double cycle_time_median = 0.0;
00058   MotionAdaption motion_adaption;
00059 
00060   while (nh.ok())
00061   {
00062     motion_adaption.adapt();
00063 
00064     loop_rate.sleep();
00065 
00066     cycle_time_median = ((cycle_time_median * (loop_count - 1)) + loop_rate.cycleTime().toSec()) / loop_count;
00067 
00068     ROS_DEBUG_THROTTLE(1.0, "motion_adaption: cycle time %f and median cycle time %f", loop_rate.cycleTime().toSec(),
00069     cycle_time_median);
00070 
00071     loop_count++;
00072   }
00073   return 0;
00074 }
00075 


motion_adaption
Author(s): Marcus Liebhardt
autogenerated on Mon Jan 6 2014 11:39:55