From b2253d2589140b01a23f9463e7ff13a02e95325c Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Tue, 8 May 2018 20:34:12 +0200
Subject: [PATCH] -
---
modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp | 4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp b/modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp
index 261d606f..c5d34c90 100644
--- a/modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp
@@ -16,7 +16,6 @@ void EgoMotion::environmentDataCallback(const environmentDataMsg::ConstPtr & inM
std::cout << "EgoMotion recived new environmentData data (" << inMsg->distance << ", " << inMsg->relativeSpeed << ")." << std::endl;
distance = inMsg->distance;
relSpeed = inMsg->relativeSpeed;
- sleep(3);
computeAndNotify();
std::cout << "EgoMotion done with environmentData data (" << inMsg->distance << ", " << inMsg->relativeSpeed << ")." << std::endl;
}
@@ -26,14 +25,13 @@ void EgoMotion::stmDataCallback(const stmDataMsg::ConstPtr & inMsg)
{
std::cout << "EgoMotion recived new stmData data (" << inMsg->speed << ", " << inMsg->angle << ")." << std::endl;
stmSpeed = inMsg->speed;
- sleep(1);
computeAndNotify();
std::cout << "EgoMotion done with stmData data (" << inMsg->speed << ", " << inMsg->angle << ")." << std::endl;
}
void EgoMotion::computeAndNotify()
{
- prvSpeed = stmSpeed + relSpeed;
+ prvSpeed = (stmSpeed.load() + relSpeed.load());
cruiseControllerNotify();
}
--
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