Obbart/universal_robots_ros_driver
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Refactored const size arrays to std::array

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This commit is contained in:
Simon Rasmussen
2017-03-08 11:00:16 +01:00
parent aa26bb5996
commit e478987dc4
2 changed files with 15 additions and 15 deletions
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2
include/ur_modern_driver/bin_parser.h
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@@ -136,7 +136,7 @@ public:
}
template <typename T, size_t N>
void parse(T (&array)[N])
void parse(std::array<T, N> &array)
{
for (size_t i = 0; i < N; i++)
{

28
include/ur_modern_driver/ur/rt_state.h
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@@ -23,18 +23,18 @@ protected:
public:
double time;
double q_target[6];
double qd_target[6];
double qdd_target[6];
double i_target[6];
double m_target[6];
double q_actual[6];
double qd_actual[6];
double i_actual[6];
std::array<double, 6> q_target;
std::array<double, 6> qd_target;
std::array<double, 6> qdd_target;
std::array<double, 6> i_target;
std::array<double, 6> m_target;
std::array<double, 6> q_actual;
std::array<double, 6> qd_actual;
std::array<double, 6> i_actual;
// gap here depending on version
double tcp_force[6];
std::array<double, 6> tcp_force;
// does not contain "_actual" postfix in V1_X but
// they're the same fields so share anyway
@@ -44,7 +44,7 @@ public:
// gap here depending on version
uint64_t digital_inputs;
double motor_temperatures[6];
std::array<double, 6> motor_temperatures;
double controller_time;
double robot_mode;
@@ -71,7 +71,7 @@ public:
bool parseWith(BinParser& bp);
virtual bool consumeWith(URRTPacketConsumer& consumer);
double joint_modes[6];
std::array<double, 6> joint_modes;
static const size_t SIZE = RTState_V1_6__7::SIZE + sizeof(double[6]);
@@ -84,11 +84,11 @@ public:
bool parseWith(BinParser& bp);
virtual bool consumeWith(URRTPacketConsumer& consumer);
double i_control[6];
std::array<double, 6> i_control;
cartesian_coord_t tool_vector_target;
cartesian_coord_t tcp_speed_target;
double joint_modes[6];
std::array<double, 6> joint_modes;
double safety_mode;
double3_t tool_accelerometer_values;
double speed_scaling;
@@ -96,7 +96,7 @@ public:
double v_main;
double v_robot;
double i_robot;
double v_actual[6];
std::array<double, 6> v_actual;
static const size_t SIZE =
RTShared::SIZE + sizeof(double[6]) * 3 + sizeof(double3_t) + sizeof(cartesian_coord_t) * 2 + sizeof(double) * 6;