Finding current time of simulation in SimpleController plugin

English
1

Hello,
I want to have current time in every loop of simulation in SR1WalkpatternController.cpp and I want to use it in Control() function.(I can have the current time with io>currentTime(); in the Initialize() function however initialize function runs just one time at the start of simulation but I want the updated current time at each moment)
Thanks in advance for your help.

2

I solved the problem by defining a pointer for example ( SimpleControllerIO* ioG) and passing the io pointer to it in the initialize() function.

3

Yes. You can also do something like this way:

class SampleController : public SimpleController
{
    double starttime;
    double dt;
    int count; // may be better to use long int

public:

    virtual bool initialize(SimpleControllerIO* io) override
    {
        start = io->currentTime();
        dt = io->timeStep();
        count = 0;
        (...snip...)
        return true;
    }

    virtual bool control() override
    {
        double currenttime = starttime + dt * count;
        count++;
        (...snip...)
        return true;
    }
};
1 Like