From 1de174d73f47769d9757aaa8ee4ea254c9ca1b5b Mon Sep 17 00:00:00 2001 From: Thomas Timm Andersen Date: Tue, 20 Oct 2015 13:24:52 +0200 Subject: [PATCH] code cleanup --- include/ur_modern_driver/ur_driver.h | 2 +- src/ur_driver.cpp | 18 ++++++++---------- 2 files changed, 9 insertions(+), 11 deletions(-) diff --git a/include/ur_modern_driver/ur_driver.h b/include/ur_modern_driver/ur_driver.h index 2a2391b..6bc1405 100644 --- a/include/ur_modern_driver/ur_driver.h +++ b/include/ur_modern_driver/ur_driver.h @@ -70,7 +70,7 @@ public: bool doTraj(std::vector inp_timestamps, std::vector > inp_positions, std::vector > inp_velocities); - void servoj(std::vector positions, int keepalive = 1, double time = 0); + void servoj(std::vector positions, int keepalive = 1); void stopTraj(); diff --git a/src/ur_driver.cpp b/src/ur_driver.cpp index a34d69b..c748334 100644 --- a/src/ur_driver.cpp +++ b/src/ur_driver.cpp @@ -168,18 +168,16 @@ bool UrDriver::doTraj(std::vector inp_timestamps, return true; } -void UrDriver::servoj(std::vector positions, int keepalive, - double time) { +void UrDriver::servoj(std::vector positions, int keepalive) { if (!reverse_connected_) { - print_error("UrDriver::servoj called without a reverse connection present. Keepalive: " + std::to_string(keepalive)); + print_error( + "UrDriver::servoj called without a reverse connection present. Keepalive: " + + std::to_string(keepalive)); return; } unsigned int bytes_written; int tmp; unsigned char buf[28]; - if (time < 0.016) { - time = servoj_time_; - } for (int i = 0; i < 6; i++) { tmp = htonl((int) (positions[i] * MULT_JOINTSTATE_)); buf[i * 4] = tmp & 0xff; @@ -303,10 +301,10 @@ bool UrDriver::start() { sec_interface_->robot_state_->getVersion()); if (!rt_interface_->start()) return false; - ip_addr_ = rt_interface_->getLocalIp(); //inet_ntoa(serv_addr.sin_addr); - char buf[256]; - sprintf(buf, "Listening on %s:%u\n", ip_addr_.c_str(), REVERSE_PORT_); - print_debug(buf); + ip_addr_ = rt_interface_->getLocalIp(); + print_debug( + "Listening on " + ip_addr_ + ":" + std::to_string(REVERSE_PORT_) + + "\n"); return true; }