From d2f4431d2d6070fbde130626d2dcb3aff1fbf6e9 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Mon, 25 Jul 2022 14:42:14 +0200
Subject: [PATCH] debug stuff
---
source/armarx/navigation/server/Navigator.cpp | 14 ++++++++++----
.../TrajectoryFollowingController.cpp | 1 +
2 files changed, 11 insertions(+), 4 deletions(-)
diff --git a/source/armarx/navigation/server/Navigator.cpp b/source/armarx/navigation/server/Navigator.cpp
index 26479047..e43dfa69 100644
--- a/source/armarx/navigation/server/Navigator.cpp
+++ b/source/armarx/navigation/server/Navigator.cpp
@@ -728,15 +728,19 @@ namespace armarx::navigation::server
// scene update
{
+ ARMARX_DEBUG << "Updating scene";
+
const Duration duration =
armarx::core::time::StopWatch::measure([&]() { updateScene(); });
- ARMARX_VERBOSE << deactivateSpam(0.2) << "Scene update: " << duration.toSecondsDouble()
- << "s.";
+ ARMARX_VERBOSE << deactivateSpam(0.2) << "Scene update: " << duration.toMilliSecondsDouble()
+ << "ms.";
}
// local planner update
{
+ ARMARX_DEBUG << "Local planner update";
+
const Duration duration = armarx::core::time::StopWatch::measure(
[&]()
{
@@ -748,16 +752,18 @@ namespace armarx::navigation::server
}
});
ARMARX_VERBOSE << deactivateSpam(0.2)
- << "Local planner update: " << duration.toSecondsDouble() << "s.";
+ << "Local planner update: " << duration.toMilliSecondsDouble() << "ms.";
}
// monitor update
{
+ ARMARX_DEBUG << "Monitor update";
+
const Duration duration =
armarx::core::time::StopWatch::measure([&]() { updateMonitor(); });
ARMARX_VERBOSE << deactivateSpam(0.2)
- << "Monitor update: " << duration.toSecondsDouble() << "s.";
+ << "Monitor update: " << duration.toMilliSecondsDouble() << "ms.";
}
}
diff --git a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
index b5ef2b45..17431d8e 100644
--- a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
+++ b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
@@ -11,6 +11,7 @@
#include <RobotAPI/libraries/core/MultiDimPIDController.h>
+#include "armarx/navigation/core/basic_types.h"
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/trajectory_control/TrajectoryController.h>
--
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