From 2a663a1eeeb648b8cd0c27b8bee9a0d85dfc0779 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 26 Feb 2018 11:50:51 +0100
Subject: [PATCH] Changes strategy from c preprocessor to namespace nickname.
Simpler and clearer.
---
.../src/roscontrol-sot-controller.cpp | 32 ++++++-------------
1 file changed, 9 insertions(+), 23 deletions(-)
diff --git a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
index d4a8479..781e203 100644
--- a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
+++ b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
@@ -35,10 +35,13 @@
#define ODEBUG4FULL(x)
#define ODEBUG4(x)
+/// lhi: nickname for local_hardware_interface
+/// Depends if we are on the real robot or not.
+
#ifdef REAL_ROBOT
-using namespace hardware_interface;
+using namespace lhi=hardware_interface;
#else
-using namespace talos_hardware_interface;
+using namespace lhi=talos_hardware_interface;
#endif
using namespace rc_sot_system;
@@ -47,7 +50,6 @@ namespace talos_sot_controller
{
typedef std::map<std::string,std::string>::iterator it_map_rt_to_sot;
- -
EffortControlPDMotorControlData::EffortControlPDMotorControlData()
{
prev = 0.0; vel_prev = 0.0; des_pos=0.0;
@@ -86,11 +88,7 @@ namespace talos_sot_controller
}
bool RCSotController::
-#ifdef REAL_ROBOT
- initRequest (hardware_interface::RobotHW * robot_hw,
-#else
- initRequest (talos_hardware_interface::RobotHW * robot_hw,
-#endif
+ initRequest (lhi::RobotHW * robot_hw,
ros::NodeHandle &robot_nh,
ros::NodeHandle &controller_nh,
std::set<std::string> & claimed_resources)
@@ -129,11 +127,7 @@ namespace talos_sot_controller
}
bool RCSotController::
-#ifdef REAL_ROBOT
- initInterfaces(hardware_interface::RobotHW * robot_hw,
-#else
- initInterfaces(talos_hardware_interface::RobotHW * robot_hw,
-#endif
+ initInterfaces(lhi::RobotHW * robot_hw,
ros::NodeHandle &,
ros::NodeHandle &,
std::set<std::string> & claimed_resources)
@@ -815,18 +809,10 @@ namespace talos_sot_controller
//return type_name_;
if (control_mode_==POSITION)
return hardware_interface::internal::
- #ifdef REAL_ROBOT
- demangledTypeName<hardware_interface::PositionJointInterface>();
- #else
- demangledTypeName<talos_hardware_interface::PositionJointInterface>();
- #endif
+ demangledTypeName<lhi::PositionJointInterface>();
else if (control_mode_==EFFORT)
return hardware_interface::internal::
- #ifdef REAL_ROBOT
- demangledTypeName<hardware_interface::EffortJointInterface>();
- #else
- demangledTypeName<talos_hardware_interface::EffortJointInterface>();
- #endif
+ demangledTypeName<lhi::EffortJointInterface>();
std::string voidstring("");
return voidstring;
}
--
GitLab