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Commit 4a6c8796 authored by Rainer Kartmann's avatar Rainer Kartmann
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Fix include style, add profiling

parent 4ec471b7
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2 merge requests!185Clean up interfaces and unneeded code in memory core classes,!178Draft: Make RobotStateMemory ready
...@@ -10,12 +10,12 @@ ...@@ -10,12 +10,12 @@
#include <SimoxUtility/algorithm/get_map_keys_values.h> #include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/math/pose.h> #include <SimoxUtility/math/pose.h>
#include "ArmarXCore/core/logging/Logging.h" #include <ArmarXCore/core/logging/Logging.h>
#include "ArmarXCore/core/time/CycleUtil.h" #include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/core/time/TimeUtil.h> #include <ArmarXCore/core/time/TimeUtil.h>
#include "RobotAPI/components/ArViz/Client/Elements.h" #include <RobotAPI/components/ArViz/Client/Elements.h>
#include "RobotAPI/libraries/armem/core/Time.h" #include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h> #include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
#include <exception> #include <exception>
#include <string> #include <string>
...@@ -211,12 +211,20 @@ namespace armarx::armem::server::robot_state ...@@ -211,12 +211,20 @@ namespace armarx::armem::server::robot_state
try try
{ {
TIMING_START(tRobotDescriptions);
const auto robotDescriptions = const auto robotDescriptions =
descriptionSegment.getRobotDescriptions(timestamp); descriptionSegment.getRobotDescriptions(timestamp);
TIMING_END_STREAM(tRobotDescriptions, ARMARX_VERBOSE);
TIMING_START(tGlobalRobotPoseMap);
const auto globalRobotPoseMap = const auto globalRobotPoseMap =
localizationSegment.getRobotGlobalPoses(timestamp); localizationSegment.getRobotGlobalPoses(timestamp);
TIMING_END_STREAM(tGlobalRobotPoseMap, ARMARX_VERBOSE);
TIMING_START(tRobotJointPositionMap);
const auto robotJointPositionMap = const auto robotJointPositionMap =
proprioceptionSegment.getRobotJointPositions(timestamp); proprioceptionSegment.getRobotJointPositions(timestamp);
TIMING_END_STREAM(tRobotJointPositionMap, ARMARX_VERBOSE);
const auto frames = localizationSegment.getRobotFramePoses(timestamp); const auto frames = localizationSegment.getRobotFramePoses(timestamp);
......
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