Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Updated clang-format and added clang-tidy instructions

Browse Source
This commit is contained in:
Felix Mauch
2019-04-01 11:18:59 +02:00
parent 5934612a03
commit 99533e42d8
16 changed files with 133 additions and 105 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/ros/hardware_interface.cpp
View File

@@ -20,7 +20,7 @@
#include "ur_rtde_driver/log.h"
const std::string JointInterface::INTERFACE_NAME = "hardware_interface::JointStateInterface";
JointInterface::JointInterface(std::vector<std::string> &joint_names)
JointInterface::JointInterface(std::vector<std::string>& joint_names)
{
for (size_t i = 0; i < 6; i++)
{
@@ -28,7 +28,7 @@ JointInterface::JointInterface(std::vector<std::string> &joint_names)
}
}
void JointInterface::update(RTShared &packet)
void JointInterface::update(RTShared& packet)
{
positions_ = packet.q_actual;
velocities_ = packet.qd_actual;
@@ -41,14 +41,14 @@ WrenchInterface::WrenchInterface(std::string tcp_link)
registerHandle(hardware_interface::ForceTorqueSensorHandle("wrench", tcp_link, tcp_.begin(), tcp_.begin() + 3));
}
void WrenchInterface::update(RTShared &packet)
void WrenchInterface::update(RTShared& packet)
{
tcp_ = packet.tcp_force;
}
const std::string VelocityInterface::INTERFACE_NAME = "hardware_interface::VelocityJointInterface";
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), prev_velocity_cmd_({ 0, 0, 0, 0, 0, 0 })
{
for (size_t i = 0; i < 6; i++)
@@ -72,16 +72,16 @@ bool VelocityInterface::write()
void VelocityInterface::reset()
{
for (auto &val : prev_velocity_cmd_)
for (auto& val : prev_velocity_cmd_)
{
val = 0;
}
}
const std::string PositionInterface::INTERFACE_NAME = "hardware_interface::PositionJointInterface";
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++)