C++ cFrequencyCounter::reset方法代码示例

void updateHaptics(void)
{
    // initialize frequency counter
    frequencyCounter.reset();

	// initialize precision clock
	cPrecisionClock clock;
    clock.reset();

    // simulation in now running
    simulationRunning  = true;
    simulationFinished = false;

    // main haptic simulation loop
    while(simulationRunning)
    {
        // compute global reference frames for each object
        world->computeGlobalPositions(true);

        // update position and orientation of tool
        tool->updatePose();

        // compute interaction forces
        tool->computeInteractionForces();

        // send forces to haptic device
        tool->applyForces();

        // stop clock
        double time = clock.stop();

        // scroll text according to the haptic device position
        const double K = 4000;
        double command = tool->m_hapticPoint->getGlobalPosGoal().y();
        double pos = textPosition + K * time * command;
        textPosition = cClamp(pos, -text->getWidth(), (double)(windowW));

        // restart clock
        clock.start(true);

        // update frequency counter
        frequencyCounter.signal(1);
    }
    
    // exit haptics thread
    simulationFinished = true;
}

void updateHaptics(void)
{
    // initialize frequency counter
    frequencyCounter.reset();

    // main haptic simulation loop
    while(simulationRunning)
    {
        /////////////////////////////////////////////////////////////////////
        // READ HAPTIC DEVICE
        /////////////////////////////////////////////////////////////////////

        // read position
        cVector3d position;
        hapticDevice->getPosition(position);

        // read orientation
        cMatrix3d rotation;
        hapticDevice->getRotation(rotation);

        // read gripper position
        double gripperAngle;
        hapticDevice->getGripperAngleRad(gripperAngle);

        // read linear velocity
        cVector3d linearVelocity;
        hapticDevice->getLinearVelocity(linearVelocity);

        // read angular velocity
        cVector3d angularVelocity;
        hapticDevice->getAngularVelocity(angularVelocity);

        // read gripper angular velocity
        double gripperAngularVelocity;
        hapticDevice->getGripperAngularVelocity(gripperAngularVelocity);

        // read userswitch status (button 0)
        bool button0, button1, button2, button3;
        button0 = false;
        button1 = false;
        button2 = false;
        button3 = false;

        hapticDevice->getUserSwitch(0, button0);
        hapticDevice->getUserSwitch(1, button1);
        hapticDevice->getUserSwitch(2, button2);
        hapticDevice->getUserSwitch(3, button3);

        /////////////////////////////////////////////////////////////////////
        // UPDATE 3D MODELS
        /////////////////////////////////////////////////////////////////////

        // update arrow
        velocity->m_pointA = position;
        velocity->m_pointB = cAdd(position, linearVelocity);

        // update position and orientation of cursor
        cursor->setLocalPos(position);
        cursor->setLocalRot(rotation);

        // adjust the  color of the cursor according to the status of
        // the user switch (ON = TRUE / OFF = FALSE)
        if (button0)
        {
            cursor->m_material->setGreenMediumAquamarine();
        }
        else if (button1)
        {
            cursor->m_material->setYellowGold();
        }
        else if (button2)
        {
            cursor->m_material->setOrangeCoral();
        }
        else if (button3)
        {
            cursor->m_material->setPurpleLavender();
        }
        else
        {
            cursor->m_material->setBlueRoyal();
        }

        // update global variable for graphic display update
        hapticDevicePosition = position;


        /////////////////////////////////////////////////////////////////////
        // COMPUTE AND SEND FORCE AND TORQUE
        /////////////////////////////////////////////////////////////////////

        cVector3d force (0,0,0);
        cVector3d torque (0,0,0);
        double gripperForce = 0.0;

        // apply force field
        if (useForceField)
        {
            // compute linear force
            double Kp = 20; // [N/m]
//.........这里部分代码省略.........