Add timing to state #21
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Nice. LGTM |
added 2 commits
February 1, 2016 13:20
…esired_param Add control_frequency_desired param
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This PR is on top of #20
This simply adds a
boost::cpu_timerto compute the actual control time in theupdatemethod (control loop). The user, system and wall time are published on the controller state in order to compare them with the control period (desired/expected and actual), which #20 adds to the state too.@afakihcpr