From 279b5c26fb4a3f9544c5bde4f368e59911256b84 Mon Sep 17 00:00:00 2001
From: Clemens Wallrath <uagzs@student.kit.edu>
Date: Wed, 26 Aug 2015 18:18:25 +0200
Subject: [PATCH] Begin converting KinematicUnitSimulation to TimeServer time
---
source/RobotAPI/components/units/KinematicUnitSimulation.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
index 819cbcd3e..dfb70c99c 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
@@ -30,6 +30,7 @@
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/RuntimeEnvironment.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
#include <algorithm>
@@ -91,8 +92,8 @@ void KinematicUnitSimulation::onExitKinematicUnit()
void KinematicUnitSimulation::simulationFunction()
{
// the time it took until this method was called again
- double timeDeltaInSeconds = (IceUtil::Time::now() - lastExecutionTime).toMilliSecondsDouble() / 1000.0;
- lastExecutionTime = IceUtil::Time::now();
+ double timeDeltaInSeconds = (TimeUtil::getTime() - lastExecutionTime).toMilliSecondsDouble() / 1000.0;
+ lastExecutionTime = TimeUtil::getTime();
// name value maps for reporting
NameValueMap actualJointAngles;
NameValueMap actualJointVelocities;
--
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