Obbart/universal_robots_ros_driver
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Clang-format run

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This commit is contained in:
Simon Rasmussen
2017-07-09 02:54:49 +02:00
parent 577fcdbf98
commit 3a5fa23f6b
31 changed files with 343 additions and 343 deletions
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27
src/ros/controller.cpp
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@@ -1,6 +1,7 @@
#include "ur_modern_driver/ros/controller.h"
ROSController::ROSController(URCommander &commander, TrajectoryFollower& follower, std::vector<std::string> &joint_names, double max_vel_change)
ROSController::ROSController(URCommander& commander, TrajectoryFollower& follower,
std::vector<std::string>& joint_names, double max_vel_change)
: controller_(this, nh_)
, joint_interface_(joint_names)
, wrench_interface_()
@@ -18,7 +19,8 @@ void ROSController::setupConsumer()
lastUpdate_ = ros::Time::now();
}
void ROSController::doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list, const std::list<hardware_interface::ControllerInfo>& stop_list)
void ROSController::doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list)
{
LOG_INFO("Switching hardware interface");
@@ -60,7 +62,7 @@ void ROSController::reset()
{
if (active_interface_ == nullptr)
return;
active_interface_->reset();
}
@@ -70,7 +72,6 @@ void ROSController::read(RTShared& packet)
wrench_interface_.update(packet);
}
bool ROSController::update(RTShared& state)
{
auto time = ros::Time::now();
@@ -80,16 +81,16 @@ bool ROSController::update(RTShared& state)
read(state);
controller_.update(time, diff, !service_enabled_);
//emergency stop and such should not kill the pipeline
//but still prevent writes
if(!service_enabled_)
// emergency stop and such should not kill the pipeline
// but still prevent writes
if (!service_enabled_)
{
reset();
return true;
}
//allow the controller to update x times before allowing writes again
if(service_cooldown_ > 0)
// allow the controller to update x times before allowing writes again
if (service_cooldown_ > 0)
{
service_cooldown_ -= 1;
return true;
@@ -101,9 +102,9 @@ bool ROSController::update(RTShared& state)
void ROSController::onRobotStateChange(RobotState state)
{
bool next = (state == RobotState::Running);
if(next == service_enabled_)
if (next == service_enabled_)
return;
service_enabled_ = next;
service_cooldown_ = 125;
service_cooldown_ = 125;
}