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Remove the TimeProfiler and use the one of BipedalLocomotionFramework #171

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merged 1 commit into from
Apr 4, 2024
Merged

Remove the TimeProfiler and use the one of BipedalLocomotionFramework #171

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1 change: 0 additions & 1 deletion src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@

add_subdirectory(YarpUtilities)
add_subdirectory(iDynTreeUtilities)
add_subdirectory(TimeProfiler)
add_subdirectory(StdUtilities)
add_subdirectory(SimplifiedModelControllers)
add_subdirectory(RobotInterface)
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8 changes: 0 additions & 8 deletions src/TimeProfiler/CMakeLists.txt
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104 changes: 0 additions & 104 deletions src/TimeProfiler/include/WalkingControllers/TimeProfiler/TimeProfiler.h
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107 changes: 0 additions & 107 deletions src/TimeProfiler/src/TimeProfiler.cpp
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2 changes: 1 addition & 1 deletion src/WalkingModule/CMakeLists.txt
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Expand Up @@ -13,7 +13,6 @@ add_walking_controllers_application(
LINK_LIBRARIES WalkingControllers::YarpUtilities
WalkingControllers::iDynTreeUtilities
WalkingControllers::StdUtilities
WalkingControllers::TimeProfiler
WalkingControllers::RobotInterface
WalkingControllers::KinDynWrapper
WalkingControllers::TrajectoryPlanner
Expand All @@ -24,6 +23,7 @@ add_walking_controllers_application(
BipedalLocomotion::ParametersHandlerYarpImplementation
BipedalLocomotion::Contacts
BipedalLocomotion::ManifConversions
BipedalLocomotion::System
ctrlLib
SUBDIRECTORIES app)

6 changes: 3 additions & 3 deletions src/WalkingModule/include/WalkingControllers/WalkingModule/Module.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,8 @@

#include <BipedalLocomotion/YarpUtilities/VectorsCollectionServer.h>
#include <BipedalLocomotion/Contacts/GlobalCoPEvaluator.h>
#include <BipedalLocomotion/System/TimeProfiler.h>


// iDynTree
#include <iDynTree/Core/VectorFixSize.h>
Expand All @@ -46,8 +48,6 @@

#include <WalkingControllers/RetargetingHelper/Helper.h>

#include <WalkingControllers/TimeProfiler/TimeProfiler.h>

// iCub-ctrl
#include <iCub/ctrl/filters.h>

Expand Down Expand Up @@ -91,7 +91,7 @@ namespace WalkingControllers
std::unique_ptr<StableDCMModel> m_stableDCMModel; /**< Pointer to the stable DCM dynamics. */
std::unique_ptr<WalkingPIDHandler> m_PIDHandler; /**< Pointer to the PID handler object. */
std::unique_ptr<RetargetingClient> m_retargetingClient; /**< Pointer to the stable DCM dynamics. */
std::unique_ptr<TimeProfiler> m_profiler; /**< Time profiler. */
std::unique_ptr<BipedalLocomotion::System::TimeProfiler> m_profiler; /**< Time profiler. */
BipedalLocomotion::Contacts::GlobalCoPEvaluator m_globalCoPEvaluator;

double m_additionalRotationWeightDesired; /**< Desired additional rotational weight matrix. */
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2 changes: 1 addition & 1 deletion src/WalkingModule/src/Module.cpp
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Expand Up @@ -427,7 +427,7 @@ bool WalkingModule::configure(yarp::os::ResourceFinder &rf)
}

// time profiler
m_profiler = std::make_unique<TimeProfiler>();
m_profiler = std::make_unique<BipedalLocomotion::System::TimeProfiler>();
m_profiler->setPeriod(round(1 / m_dT));
if (m_useMPC)
m_profiler->addTimer("MPC");
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