From e34f628dadc27089662aa7fa1af2fbeb4157c856 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 26 Feb 2018 12:02:25 +0100
Subject: [PATCH] Fix compilation bug
---
.../src/roscontrol-sot-controller.cpp | 11 ++++++-----
talos_roscontrol_sot/src/roscontrol-sot-controller.hh | 6 ++++--
2 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
index 781e203..97d2cd0 100644
--- a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
+++ b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
@@ -39,10 +39,11 @@
/// Depends if we are on the real robot or not.
#ifdef REAL_ROBOT
-using namespace lhi=hardware_interface;
+namespace lhi=hardware_interface;
#else
-using namespace lhi=talos_hardware_interface;
+namespace lhi=talos_hardware_interface;
#endif
+using namespace lhi;
using namespace rc_sot_system;
@@ -808,10 +809,10 @@ namespace talos_sot_controller
{
//return type_name_;
if (control_mode_==POSITION)
- return hardware_interface::internal::
+ return lhi::internal::
demangledTypeName<lhi::PositionJointInterface>();
else if (control_mode_==EFFORT)
- return hardware_interface::internal::
+ return lhi::internal::
demangledTypeName<lhi::EffortJointInterface>();
std::string voidstring("");
return voidstring;
@@ -819,5 +820,5 @@ namespace talos_sot_controller
PLUGINLIB_EXPORT_CLASS(talos_sot_controller::RCSotController,
- controller_interface::ControllerBase);
+ lci::ControllerBase);
}
diff --git a/talos_roscontrol_sot/src/roscontrol-sot-controller.hh b/talos_roscontrol_sot/src/roscontrol-sot-controller.hh
index fee2eac..1104645 100644
--- a/talos_roscontrol_sot/src/roscontrol-sot-controller.hh
+++ b/talos_roscontrol_sot/src/roscontrol-sot-controller.hh
@@ -88,11 +88,13 @@ namespace talos_sot_controller
*/
#ifdef REAL_ROBOT
namespace lhi = hardware_interface;
+ namespace lci = controller_interface;
#else
namespace lhi = talos_hardware_interface;
+ namespace lci = talos_controller_interface;
#endif
- class RCSotController : public controller_interface::ControllerBase,
+ class RCSotController : public lci::ControllerBase,
SotLoaderBasic
{
@@ -149,7 +151,7 @@ namespace talos_sot_controller
/// \brief The robot can controlled in effort or position mode (default).
SotControlMode control_mode_;
- -
+
/// \brief Implement a PD controller for the robot when the dynamic graph
/// is not on.
std::map<std::string,EffortControlPDMotorControlData> effort_mode_pd_motors_;
--
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