Obbart/universal_robots_ros_driver
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Fixed compiler warnings

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This commit is contained in:
Simon Rasmussen
2017-07-09 02:45:58 +02:00
parent fdaaacfe2c
commit 577fcdbf98
10 changed files with 30 additions and 36 deletions
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6
include/ur_modern_driver/ros/action_server.h
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@@ -32,9 +32,6 @@ private:
std::set<std::string> joint_set_;
double max_velocity_;
RobotState state_;
std::array<double, 6> q_actual_, qd_actual_;
GoalHandle curr_gh_;
std::atomic<bool> interrupt_traj_;
std::atomic<bool> has_goal_, running_;
@@ -44,6 +41,9 @@ private:
TrajectoryFollower& follower_;
RobotState state_;
std::array<double, 6> q_actual_, qd_actual_;
void onGoal(GoalHandle gh);
void onCancel(GoalHandle gh);

2
include/ur_modern_driver/ros/controller.h
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@@ -55,7 +55,7 @@ private:
void reset();
public:
ROSController(URCommander& commander, std::vector<std::string>& joint_names, double max_vel_change);
ROSController(URCommander& commander, TrajectoryFollower& follower, std::vector<std::string>& joint_names, double max_vel_change);
virtual ~ROSController() { }
// from RobotHW
void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list, const std::list<hardware_interface::ControllerInfo>& stop_list);

5
include/ur_modern_driver/ros/hardware_interface.h
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@@ -6,6 +6,7 @@
#include <algorithm>
#include "ur_modern_driver/ur/commander.h"
#include "ur_modern_driver/ur/rt_state.h"
#include "ur_modern_driver/ros/trajectory_follower.h"
class HardwareInterface
{
@@ -56,11 +57,11 @@ public:
class PositionInterface : public HardwareInterface, public hardware_interface::PositionJointInterface
{
private:
URCommander &commander_;
TrajectoryFollower& follower_;
std::array<double, 6> position_cmd_;
public:
PositionInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface, std::vector<std::string> &joint_names);
PositionInterface(TrajectoryFollower& follower, hardware_interface::JointStateInterface &js_interface, std::vector<std::string> &joint_names);
virtual bool write();
virtual void start();
virtual void stop();

4
include/ur_modern_driver/ros/trajectory_follower.h
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@@ -33,12 +33,12 @@ struct TrajectoryPoint
class TrajectoryFollower
{
private:
double servoj_time_, servoj_lookahead_time_, servoj_gain_;
std::atomic<bool> running_;
std::array<double, 6> last_positions_;
URCommander &commander_;
URServer server_;
int reverse_port_;
double servoj_time_, servoj_lookahead_time_, servoj_gain_;
std::string program_;
template <typename T>