Avoid unnecessary operation in Device::integrate with two integration.

jmirabel · jmirabel · commit fa75f324f963 · 2018-03-27T14:30:45.000+02:00
diff --git a/src/tools/device.cpp b/src/tools/device.cpp
@@ -419,9 +419,9 @@ void Device::integrate( const double & dt )
 
   if (controlInputType_==CONTROL_INPUT_TWO_INTEGRATION)
   {
+    if(controlIN.size() == velocity_.size()) offset = 0;
     for( int i=0;i<controlIN.size();++i )
     {
-      if(controlIN.size() == velocity_.size()) offset = 0;
       vel_control_(i) = velocity_(i+offset) + controlIN(i)*dt*0.5;
       velocity_(i+offset) = velocity_(i+offset) + controlIN(i)*dt;
     }

Original file line number	Diff line number	Diff line change
`@@ -419,9 +419,9 @@ void Device::integrate( const double & dt )`
`419`	`419`
`420`	`420`	`if (controlInputType_==CONTROL_INPUT_TWO_INTEGRATION)`
`421`	`421`	`{`
	`422`	`+ if(controlIN.size() == velocity_.size()) offset = 0;`
`422`	`423`	`for( int i=0;i<controlIN.size();++i )`
`423`	`424`	`{`
`424`		`- if(controlIN.size() == velocity_.size()) offset = 0;`
`425`	`425`	`vel_control_(i) = velocity_(i+offset) + controlIN(i)dt0.5;`
`426`	`426`	`velocity_(i+offset) = velocity_(i+offset) + controlIN(i)*dt;`
`427`	`427`	`}`