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Update online example to pause every 10 seconds #527

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merged 1 commit into from
Oct 31, 2024
Merged

Update online example to pause every 10 seconds #527

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16 changes: 12 additions & 4 deletions tesseract_examples/src/online_planning_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -322,11 +322,12 @@ bool OnlinePlanningExample::onlinePlan()
console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_INFO);

using namespace std::chrono;
auto prev_start = high_resolution_clock::now();
auto user_input_start = steady_clock::now();
auto prev_start = steady_clock::now();
while (realtime_running_)
{
auto start = high_resolution_clock::now();
auto dt = 0.01 * duration<double>(start - prev_start).count();
auto start = steady_clock::now();
auto dt = 0.01 * std::chrono::duration<double>(start - prev_start).count();
prev_start = start;

// Calculate current position of the robot and update environment current state
Expand Down Expand Up @@ -383,12 +384,19 @@ bool OnlinePlanningExample::onlinePlan()
solver.setBoxSize(box_size_);
}

auto stop = high_resolution_clock::now();
auto stop = steady_clock::now();
auto duration = duration_cast<microseconds>(stop - start) / static_cast<double>(num_steps);

// Update manipulator joint values and plot trajectory
updateAndPlotTrajectory(x);

// Wait for user input every 5 seconds to allow viewing the trajectory
if (std::chrono::duration<double>(steady_clock::now() - user_input_start).count() > 10)
{
plotter_->waitForInput("Pausing to allow viewing of trajectory. Hit enter to continue online planner.");
user_input_start = steady_clock::now();
}

std::string message =
"Solver Frequency (Hz): " + std::to_string(1.0 / static_cast<double>(duration.count()) * 1000000.) +
"\nCost: " + std::to_string(nlp_->evaluateTotalExactCost(x));
Expand Down
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