From 63116cf72b887c28e5cb89d91c32a97b2a9d12e9 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Thu, 3 Mar 2016 14:07:33 +0100
Subject: [PATCH] fixed ft observer visu update cycle
---
source/RobotAPI/components/units/ForceTorqueObserver.cpp | 2 +-
source/RobotAPI/components/units/ForceTorqueObserver.h | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index f6f0d4ddf..8f0305101 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -86,7 +86,7 @@ void ForceTorqueObserver::onConnectObserver()
debugDrawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
if (getProperty<bool>("VisualizeForce").getValue())
{
- visualizerTask = new PeriodicTask<ForceTorqueObserver>(this, &ForceTorqueObserver::visualizerFunction, getProperty<int>("VisualizeForceUpdateFrequency").getValue(), false, "visualizerFunction");
+ visualizerTask = new PeriodicTask<ForceTorqueObserver>(this, &ForceTorqueObserver::visualizerFunction, 1000 / getProperty<int>("VisualizeForceUpdateFrequency").getValue(), false, "visualizerFunction");
visualizerTask->start();
}
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index a9a8ee3a9..3134ceee1 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -43,8 +43,8 @@ namespace armarx
{
defineRequiredProperty<std::string>("ForceTorqueTopicName", "Name of the ForceTorqueUnit Topic");
defineOptionalProperty<bool>("VisualizeForce", true, "Visualize the force with an arrow in the debug drawer");
- defineOptionalProperty<int>("VisualizeForceUpdateFrequency", 20, "Frequency with which the force is visualized");
- defineOptionalProperty<float>("ForceVisualizerFactor", 0.01, "Factor by which the forces are scaled to fit into 0..1 (only for visulization) ");
+ defineOptionalProperty<int>("VisualizeForceUpdateFrequency", 30, "Frequency with which the force is visualized");
+ defineOptionalProperty<float>("ForceVisualizerFactor", 0.01f, "Factor by which the forces are scaled to fit into 0..1 (only for visulization) ");
defineOptionalProperty<float>("MaxForceArrowLength", 150, "Length of the force visu arrow in mm");
}
};
--
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