From c4389a53fbc7135353c0d4245a8d1607b620ff9a Mon Sep 17 00:00:00 2001
From: Clemens Wallrath <uagzs@student.kit.edu>
Date: Fri, 16 Dec 2016 17:25:24 +0100
Subject: [PATCH] Adapts PIDController to virtual time
---
source/RobotAPI/libraries/core/PIDController.cpp | 13 +++++++------
1 file changed, 7 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index e6774b820..855185688 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -23,6 +23,7 @@
*/
#include "PIDController.h"
+#include <ArmarXCore/core/time/TimeUtil.h>
#include <RobotAPI/libraries/core/math/MathUtils.h>
using namespace armarx;
@@ -50,17 +51,17 @@ void PIDController::reset()
firstRun = true;
previousError = 0;
integral = 0;
- lastUpdateTime = IceUtil::Time::now();
+ lastUpdateTime = TimeUtil::GetTime();
}
void PIDController::update(double measuredValue, double targetValue)
{
ScopedRecursiveLock lock(mutex);
- IceUtil::Time now = IceUtil::Time::now();
+ IceUtil::Time now = TimeUtil::GetTime();
if (firstRun)
{
- lastUpdateTime = IceUtil::Time::now();
+ lastUpdateTime = TimeUtil::GetTime();
}
double dt = (now - lastUpdateTime).toSecondsDouble();
@@ -219,11 +220,11 @@ void MultiDimPIDController::update(const double deltaSec, const Eigen::VectorXf&
void MultiDimPIDController::update(const Eigen::VectorXf& measuredValue, const Eigen::VectorXf& targetValue)
{
ScopedRecursiveLock lock(mutex);
- IceUtil::Time now = IceUtil::Time::now();
+ IceUtil::Time now = TimeUtil::GetTime();
if (firstRun)
{
- lastUpdateTime = IceUtil::Time::now();
+ lastUpdateTime = TimeUtil::GetTime();
}
double dt = (now - lastUpdateTime).toSecondsDouble();
@@ -242,7 +243,7 @@ void MultiDimPIDController::reset()
firstRun = true;
previousError = 0;
integral = 0;
- lastUpdateTime = IceUtil::Time::now();
+ lastUpdateTime = TimeUtil::GetTime();
// controlValue.setZero();
// processValue.setZero();
// target.setZero();
--
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