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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12
src/ros/hardware_interface.cpp
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@@ -19,14 +19,15 @@ void JointInterface::update(RTShared &packet)
WrenchInterface::WrenchInterface()
{
registerHandle(hardware_interface::ForceTorqueSensorHandle("wrench", "", tcp_.begin(), tcp_.begin() + 3));
}
}
void WrenchInterface::update(RTShared &packet)
{
tcp_ = packet.tcp_force;
}
VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface, std::vector<std::string> &joint_names, double max_vel_change)
VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface,
std::vector<std::string> &joint_names, double max_vel_change)
: commander_(commander), max_vel_change_(max_vel_change)
{
for (size_t i = 0; i < 6; i++)
@@ -50,14 +51,15 @@ bool VelocityInterface::write()
void VelocityInterface::reset()
{
for(auto &val : prev_velocity_cmd_)
for (auto &val : prev_velocity_cmd_)
{
val = 0;
}
}
PositionInterface:: PositionInterface(TrajectoryFollower& follower, hardware_interface::JointStateInterface &js_interface, std::vector<std::string> &joint_names)
PositionInterface::PositionInterface(TrajectoryFollower &follower,
hardware_interface::JointStateInterface &js_interface,
std::vector<std::string> &joint_names)
: follower_(follower)
{
for (size_t i = 0; i < 6; i++)