compAIR/libcreate
compAIR/libcreate
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Instantaneous velocity now available

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This commit is contained in:
jacobperron 2016-02-02 19:31:06 -08:00
parent 43c7b95361
commit 81f18d58d4
4 changed files with 56 additions and 6 deletions
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12
include/create/util.h
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@ -32,6 +32,8 @@ POSSIBILITY OF SUCH DAMAGE.
#ifndef CREATE_UTIL_H
#define CREATE_UTIL_H
#include <sys/time.h>
#define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl)
#define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl)
@ -46,7 +48,7 @@ namespace create {
static const float CREATE_2_MAX_VEL = 0.5;
static const float PI = 3.14159;
static const float TWO_PI = 6.28318;
static const float EPS = 0.001;
static const float EPS = 0.0001;
inline float normalizeAngle(const float& angle) {
float a = angle;
@ -55,6 +57,14 @@ namespace create {
return a;
};
/** Get a timestamp for the current time in micro-seconds.
*/
typedef unsigned long long timestamp_t;
static timestamp_t getTimestamp() {
struct timeval now;
gettimeofday(&now, NULL);
return now.tv_usec + (timestamp_t) now.tv_sec * 1000000;
}
} // namespace util
} // namespace create