From 4270e508015507e5fb2b77adda410adbd1b32ac6 Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Wed, 2 Feb 2011 15:17:07 +0000
Subject: [PATCH] removing previous version from iri_local_planner and adding
new one with: - iri_local_planner_core, rrt and astar instead of: -
iri_local_planner_interface, my_local_planner and my_other_planner
---
include/iri_base_algorithm/iri_base_algorithm.h | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 794b0db..5c4a17b 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -9,8 +9,8 @@
#include "exceptions.h"
//check me out
-// #define INTERNAL_SPIN
-// #define DYNAMIC_CFG
+#define INTERNAL_SPIN
+#define DYNAMIC_CFG
#define DIAGNOSTICS
#ifdef INTERNAL_SPIN
@@ -186,9 +186,11 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
//run node stuff
iriNode->mainNodeThread();
+#ifdef DIAGNOSTICS
#ifdef DIAGNOSTICS
iriNode->diagnostic_.update();
#endif
+#endif
//sleep remainder time
iriNode->loop_rate_.sleep();
@@ -214,7 +216,7 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
//launch node thread
this->thread_server_->start_thread( this->main_thread_id_);
- while(ros::ok()) && !ctrl_c_hit_count_)
+ while(ros::ok() && !ctrl_c_hit_count_)
{
#ifdef DIAGNOSTICS
this->diagnostic_.update();
--
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