On Tue, 26 Jul 2011, jocamo5 [..] ... wrote:

> Hi all!
>
> I've finished my project in University, and now I want to do some tests.
>
> For example, in each iteration of the component, I want to know what the running time exactly (the period is 0.01 seconds, but the running time should be less).
>
> Is there any function within the Orocos library to measure that time?
> Can I use clock() function in c++, or is there another more accurate?
>
RTT has a TimeService:
<http://people.mech.kuleuven.be/~orocos/pub/stable/documentation/rtt/v2.x/api/html/classRTT_1_1os_1_1TimeService.html>

> Thank you very much.
>
> Jose
>
> PS: Soon I will upload a video of my parallel robot 3DOF PRS with all the
> control implemented by Orocos (with Xenomai).

What does the robot do?

Herman

2011/7/26 jocamo5 [..] ... <jocamo5 [..] ...>:
> Hi all!
>
> I've finished my project in University, and now I want to do some tests.
>
> For example, in each iteration of the component, I want to know what the running time exactly (the period is 0.01 seconds, but the running time should be less).
>
> Is there any function within the Orocos library to measure that time?
> Can I use  clock() function in c++, or is there another more accurate?

You can use the RTT::os::TimeService:

#include <rtt/os/Timer.hpp>
 
RTT::os::TimeService::ticks time_begin =
RTT::os::TimeService::Instance()->getTicks();

To get the current time (in .. ticks)

And get the time elapsed since that moment with

double time_passed =
RTT::os::TimeService::Instance()->secondsSince(m_time_begin);

Regards,

Steven

>
> Thank you very much.
>
> Jose
>
> PS: Soon I will upload a video of my parallel robot 3DOF PRS with all the control implemented by Orocos (with Xenomai).
> --
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