The method embObjMotionControl::getTargetPositionsRaw(double *refs) is too slow
Created by: S-Dafarra
I was needing to read the target positions from boards in order to debug a control module. I was using the method
getRefPositions which appeared to be very slow, avoiding the program to run real-time.
The most probable cause is that the method
getRefPositionRaw is called for every joint at each time step.
I have tried also with
getRefDutyCycles but they have the same slow behavior.
On the other hand
getRefTorques is working fast, as expected.
Cc. @valegagge @marcoaccame @francesco-romano @traversaro @DanielePucci