Obbart/universal_robots_ros_driver
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Verified that the use of a char buffer + string concatenation is actually faster than a stringstram

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Thomas Timm Andersen
2015-09-15 11:56:28 +02:00
parent 4d5c7101ba
commit b5a687a54a
2 changed files with 2 additions and 0 deletions
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include/ur_modern_driver/ur_driver.h
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@@ -17,6 +17,7 @@
#include "ur_realtime_communication.h" #include "ur_realtime_communication.h"
#include <vector> #include <vector>
#include <math.h> #include <math.h>
#include <string>
class UrDriver { class UrDriver {
private: private:

1
src/ur_driver.cpp
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@@ -75,6 +75,7 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
timestamps.push_back(inp_timestamps[inp_timestamps.size() - 1]); timestamps.push_back(inp_timestamps[inp_timestamps.size() - 1]);
positions.push_back(inp_positions[inp_positions.size() - 1]); positions.push_back(inp_positions[inp_positions.size() - 1]);
/* This is actually faster than using a stringstream :-o */
for (unsigned int i = 1; i < timestamps.size(); i++) { for (unsigned int i = 1; i < timestamps.size(); i++) {
char buf[128]; char buf[128];
sprintf(buf, sprintf(buf,