From 31ba609539832f47d4b019314cc9a1fae52f0511 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 12 Sep 2019 08:55:54 +0200
Subject: [PATCH] Make comments single-line, move getDefaultName() impl to .cpp
---
.../RobotState/RobotStateComponent.cpp | 5 ++
.../RobotState/RobotStateComponent.h | 46 +++++++------------
2 files changed, 21 insertions(+), 30 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 332d8ec75..dd817f686 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -536,6 +536,11 @@ namespace armarx
getConfigIdentifier()));
}
+ std::string RobotStateComponent::getDefaultName() const
+ {
+ return "RobotStateComponent";
+ }
+
void RobotStateComponent::setRobotStateObserver(RobotStateObserverPtr observer)
{
robotStateObs = observer;
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index a04fe8bea..a0a2b5dd3 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -79,9 +79,7 @@ namespace armarx
{
public:
- /**
- * \return SharedRobotInterface proxy to the internal synchronized robot.
- */
+ /// \return SharedRobotInterface proxy to the internal synchronized robot.
SharedRobotInterfacePrx getSynchronizedRobot(const Ice::Current&) const override;
/**
@@ -95,40 +93,25 @@ namespace armarx
NameValueMap getJointConfigAtTimestamp(double, const Ice::Current&) const override;
RobotStateConfig getRobotStateAtTimestamp(double timestamp, const Ice::Current&) const override;
- /**
- * \return the robot xml filename as specified in the configuration
- */
+ /// \return the robot xml filename as specified in the configuration
std::string getRobotFilename(const Ice::Current&) const override;
- /*!
- * \brief getArmarXPackages
- * \return All dependent packages, which might contain a robot file.
- */
+ /// \return All dependent packages, which might contain a robot file.
std::vector< std::string > getArmarXPackages(const Ice::Current&) const override;
- /**
- *
- * \return The name of this robot instance.
- */
+ /// \return The name of this robot instance.
std::string getRobotName(const Ice::Current&) const override;
std::string getRobotStateTopicName(const Ice::Current&) const override;
- /**
- *
- * \return The name of this robot instance.
- */
+ /// \return The name of this robot instance.
std::string getRobotNodeSetName(const Ice::Current&) const override;
- /**
- * Create an instance of RobotStatePropertyDefinitions.
- */
+ /// Create an instance of RobotStatePropertyDefinitions.
PropertyDefinitionsPtr createPropertyDefinitions() override;
- std::string getDefaultName() const override
- {
- return "RobotStateComponent";
- }
+ std::string getDefaultName() const override;
+
void setRobotStateObserver(RobotStateObserverPtr observer);
bool interpolate(double time, RobotStateConfig& config) const;
@@ -137,7 +120,9 @@ namespace armarx
RobotInfoNodePtr getRobotInfo(const Ice::Current&) const override;
+
protected:
+
/**
* Load and create a VirtualRobot::Robot instance from the RobotFileName
* property. Additionally listen on the KinematicUnit topic for the
@@ -149,12 +134,11 @@ namespace armarx
*/
void onConnectComponent() override;
void onDisconnectComponent() override;
- /**
- * Calls unref() on RobotStateComponent::_synchronizedPrx.
- */
+
+ /// Calls unref() on RobotStateComponent::_synchronizedPrx.
~RobotStateComponent() override;
- // inherited from KinematicUnitInterface
+ // Inherited from KinematicUnitInterface
void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
@@ -164,11 +148,12 @@ namespace armarx
void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+
private:
+
void readRobotInfo(const std::string& robotFile);
RobotInfoNodePtr readRobotInfo(const RapidXmlReaderNode& infoNode);
-
bool interpolateJoints(double time, NameValueMap& jointAngles) const;
bool interpolatePose(double time, FramedPose& pose) const;
@@ -195,6 +180,7 @@ namespace armarx
float robotModelScaling;
RobotInfoNodePtr robotInfo;
+
};
}
--
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