jakob.kampichler/libcreate
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Use std::chrono instead of custom timestamp function

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Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
This commit is contained in:
Jacob Perron 2019-09-02 18:56:32 +00:00 • committed by Jacob Perron
parent 111b062251
commit eaeea24a21
3 changed files with 5 additions and 16 deletions
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3
include/create/create.h
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@ -34,6 +34,7 @@ POSSIBILITY OF SUCH DAMAGE.
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
#include <boost/numeric/ublas/matrix.hpp> #include <boost/numeric/ublas/matrix.hpp>
#include <chrono>
#include <string> #include <string>
#include <unistd.h> #include <unistd.h>
@ -79,7 +80,7 @@ namespace create {
float totalLeftDist; float totalLeftDist;
float totalRightDist; float totalRightDist;
bool firstOnData; bool firstOnData;
util::timestamp_t prevOnDataTime; std::chrono::time_point<std::chrono::system_clock> prevOnDataTime;
Matrix poseCovar; Matrix poseCovar;

12
include/create/util.h
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@ -32,8 +32,6 @@ POSSIBILITY OF SUCH DAMAGE.
#ifndef CREATE_UTIL_H #ifndef CREATE_UTIL_H
#define CREATE_UTIL_H #define CREATE_UTIL_H
#include <sys/time.h>
#define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl) #define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl)
#define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl) #define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl)
@ -57,16 +55,6 @@ namespace create {
return a; return a;
} }
typedef unsigned long long timestamp_t;
/** Get a timestamp for the current time in micro-seconds.
*/
inline timestamp_t getTimestamp() {
struct timeval now;
gettimeofday(&now, NULL);
return now.tv_usec + (timestamp_t) now.tv_sec * 1000000;
}
inline bool willFloatOverflow(const float a, const float b) { inline bool willFloatOverflow(const float a, const float b) {
return ( (a < 0.0) == (b < 0.0) && std::abs(b) > std::numeric_limits<float>::max() - std::abs(a) ); return ( (a < 0.0) == (b < 0.0) && std::abs(b) > std::numeric_limits<float>::max() - std::abs(a) );
} }

6
src/create.cpp
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@ -94,13 +94,13 @@ namespace create {
prevTicksLeft = GET_DATA(ID_LEFT_ENC); prevTicksLeft = GET_DATA(ID_LEFT_ENC);
prevTicksRight = GET_DATA(ID_RIGHT_ENC); prevTicksRight = GET_DATA(ID_RIGHT_ENC);
} }
prevOnDataTime = util::getTimestamp(); prevOnDataTime = std::chrono::system_clock::now();
firstOnData = false; firstOnData = false;
} }
// Get current time // Get current time
util::timestamp_t curTime = util::getTimestamp(); auto curTime = std::chrono::system_clock::now();
float dt = (curTime - prevOnDataTime) / 1000000.0; float dt = static_cast<std::chrono::duration<float>>(curTime - prevOnDataTime).count();
float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff; float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;
// Protocol versions 1 and 2 use distance and angle fields for odometry // Protocol versions 1 and 2 use distance and angle fields for odometry