Remove streaming of kf joint and motor velocities

ami-iit · Nov 12, 2024 · bb2fe13 · bb2fe13
1 parent 19c75c3
commit bb2fe13
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Showing 2 changed files with 31 additions and 31 deletions.
diff --git a/devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h b/devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h
@@ -293,10 +293,10 @@ class BipedalLocomotion::JointTorqueControlDevice
     virtual bool setRefTorque(int j, double t);
 
     // HACK MOTOR ACCELERATION TO PUBLISH FRICTION TORQUES
-    virtual bool getEncoderSpeed(int j, double* sp);
-    virtual bool getEncoderSpeeds(double* spds);
-    virtual bool getMotorEncoderSpeed(int m, double* sp);
-    virtual bool getMotorEncoderSpeeds(double* spds);
+    // virtual bool getEncoderSpeed(int j, double* sp);
+    // virtual bool getEncoderSpeeds(double* spds);
+    // virtual bool getMotorEncoderSpeed(int m, double* sp);
+    // virtual bool getMotorEncoderSpeeds(double* spds);
     virtual bool getMotorEncoderAcceleration(int j, double* acc);
     virtual bool getMotorEncoderAccelerations(double* accs);
 

diff --git a/devices/JointTorqueControlDevice/src/JointTorqueControlDevice.cpp b/devices/JointTorqueControlDevice/src/JointTorqueControlDevice.cpp
@@ -1627,33 +1627,33 @@ bool JointTorqueControlDevice::getRefTorque(int j, double* trq)
     return true;
 }
 
-bool JointTorqueControlDevice::getEncoderSpeeds(double* spds)
-{
-    std::lock_guard<std::mutex>(this->globalMutex);
-    memcpy(spds, measuredJointVelocities.data(), this->axes * sizeof(double));
-    return true;
-}
-
-bool JointTorqueControlDevice::getEncoderSpeed(int j, double* sp)
-{
-    std::lock_guard<std::mutex>(this->globalMutex);
-    *sp = measuredJointVelocities[j];
-    return true;
-}
-
-bool JointTorqueControlDevice::getMotorEncoderSpeeds(double* spds)
-{
-    std::lock_guard<std::mutex>(this->globalMutex);
-    memcpy(spds, measuredMotorVelocities.data(), this->axes * sizeof(double));
-    return true;
-}
-
-bool JointTorqueControlDevice::getMotorEncoderSpeed(int j, double* sp)
-{
-    std::lock_guard<std::mutex>(this->globalMutex);
-    *sp = measuredMotorVelocities[j];
-    return true;
-}
+// bool JointTorqueControlDevice::getEncoderSpeeds(double* spds)
+// {
+//     std::lock_guard<std::mutex>(this->globalMutex);
+//     memcpy(spds, measuredJointVelocities.data(), this->axes * sizeof(double));
+//     return true;
+// }
+
+// bool JointTorqueControlDevice::getEncoderSpeed(int j, double* sp)
+// {
+//     std::lock_guard<std::mutex>(this->globalMutex);
+//     *sp = measuredJointVelocities[j];
+//     return true;
+// }
+
+// bool JointTorqueControlDevice::getMotorEncoderSpeeds(double* spds)
+// {
+//     std::lock_guard<std::mutex>(this->globalMutex);
+//     memcpy(spds, measuredMotorVelocities.data(), this->axes * sizeof(double));
+//     return true;
+// }
+
+// bool JointTorqueControlDevice::getMotorEncoderSpeed(int j, double* sp)
+// {
+//     std::lock_guard<std::mutex>(this->globalMutex);
+//     *sp = measuredMotorVelocities[j];
+//     return true;
+// }
 
 // TO BE UPDATE
 // We publish the friction torque by using the motor acceleration as the friction