From 7f7bf4fbc88077967ee8b23cf1cee754cf8c5f41 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 29 May 2018 15:18:19 +0200
Subject: [PATCH] Reduce busy waiting to 10kHz
---
.../DMPController/NJointBimanualCCDMPController.cpp | 2 +-
.../DMPController/NJointTaskSpaceImpedanceDMPController.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
index 3e5b11466..ec2e6d266 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
@@ -744,7 +744,7 @@ namespace armarx
while (!interfaceData.updateReadBuffer())
{
-
+ usleep(100);
}
Eigen::Matrix4f leftPose = interfaceData.getReadBuffer().currentLeftPose;
Eigen::Matrix4f rightPose = interfaceData.getReadBuffer().currentRightPose;
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 8596ec6b2..d57574c7a 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -320,7 +320,7 @@ namespace armarx
while (!interfaceData.updateReadBuffer())
{
-
+ usleep(100);
}
Eigen::Matrix4f pose = interfaceData.getReadBuffer().currentTcpPose;
--
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