Obbart/universal_robots_ros_driver
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Changed uint to unsigned int for better cross-platform performance

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This commit is contained in:
Thomas Timm Andersen
2015-09-08 12:46:13 +02:00
parent 17296c4e6b
commit bbcac405d4
4 changed files with 8 additions and 6 deletions
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4
include/ur_modern_driver/ur_driver.h
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@@ -17,11 +17,13 @@
#include "ur_realtime_communication.h"
class UrDriver {
private:
double maximum_time_step_;
public:
UrRealtimeCommunication* rt_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host,
uint safety_count_max = 12);
unsigned int safety_count_max = 12);
void start();
void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4,

6
include/ur_modern_driver/ur_realtime_communication.h
View File

@@ -32,7 +32,7 @@
class UrRealtimeCommunication {
private:
const double SAMPLETIME_;
uint safety_count_max_;
unsigned int safety_count_max_;
int sockfd_;
struct sockaddr_in serv_addr_;
struct hostent *server_;
@@ -41,7 +41,7 @@ private:
int flag_;
std::recursive_mutex command_string_lock_;
std::string command_;
uint safety_count_;
unsigned int safety_count_;
void run();
public:
@@ -49,7 +49,7 @@ public:
RobotStateRT* robot_state_;
UrRealtimeCommunication(std::condition_variable& msg_cond, std::string host,
uint safety_count_max = 12);
unsigned int safety_count_max = 12);
void start();
void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4,