Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
note, deallocating and reallocating on the stack every time around might incur some unnecessary overhead.
Is this the buffer where the network data is set? If so, is this data maintained at all outside of this scope somehow?
@Ashkan372
Ashkan372 on Sep 19
This is the receiving buffer, which is only in this scope.. we take the useful data out of it and put it in our own member variables
@ahundt
ahundt just now Owner
This stack allocation probably incurs some overhead, maybe move it to a member variable or a single heap allocation of a std::array() at startup?
ahundt on Sep 19 Owner
Can you add some notes about the design of this section and why those choices were made?
@Ashkan372
Ashkan372 on Sep 19
This is the time that you wait for a new message to arrive, since we don't wont to hinder the execution of each cycle, I put it to zero... (The FRI rate is much higher than the data coming for the controller, so we don't wait for controller data)
ahundt
commented
7 years ago
The following plus additional details need to be added to the code: https://github.com/ahundt/grl/pull/107#discussion_r79489811
https://github.com/ahundt/grl/pull/107#discussion_r79490060
note, deallocating and reallocating on the stack every time around might incur some unnecessary overhead.
might as well just update this comment in here too: https://github.com/ahundt/grl/pull/107#discussion_r79490867
and another comment that should be updated: https://github.com/ahundt/grl/pull/107#discussion_r79486168