src/walking.cpp
/**
 * @brief Wake up walk control thread periodically.
 */
@brief Wake up walk control thread periodically.
@brief Wake up walk control thread periodically .
void oru_walk::dcmCallback()
{
    dcm_loop_counter++;
    if (dcm_loop_counter % (wp.control_sampling_time_ms / wp.dcm_sampling_time_ms) == 0)
    {
        last_dcm_time_ms = *last_dcm_time_ms_ptr + wp.dcm_time_shift_ms;
        readSensors (nao.state_sensor);
        boost::mutex::scoped_lock lock(walk_control_mutex);
        walk_control_condition.notify_one();
        lock.unlock();
    }
}
void oru_walk :: dcmCallback ( ) { dcm_loop_counter ++ ; if ( dcm_loop_counter % ( wp . control_sampling_time_ms / wp . dcm_sampling_time_ms ) == 0 ) { last_dcm_time_ms = * last_dcm_time_ms_ptr + wp . dcm_time_shift_ms ; readSensors ( nao . state_sensor ) ; boost :: mutex :: scoped_lock lock ( walk_control_mutex ) ; walk_control_condition . notify_one ( ) ; lock . unlock ( ) ; } }
@brief Wake up walk control thread periodically.
@brief Wake up walk control thread periodically .