From 39eeae2f86218113c9b2a33a0bb301d77b22fb4b Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Wed, 20 Apr 2022 15:51:02 +0200
Subject: [PATCH] Unify use of RobotUnit* instead of RobotUnitPtr
---
.../NJointControllers/NJointCartesianTorqueController.cpp | 2 +-
.../NJointControllers/NJointCartesianTorqueController.h | 4 ++--
.../NJointControllers/NJointCartesianVelocityController.cpp | 2 +-
.../NJointControllers/NJointCartesianVelocityController.h | 2 +-
.../NJointCartesianVelocityControllerWithRamp.cpp | 2 +-
.../NJointCartesianVelocityControllerWithRamp.h | 2 +-
.../NJointHolonomicPlatformGlobalPositionController.cpp | 2 +-
.../NJointHolonomicPlatformGlobalPositionController.h | 2 +-
.../NJointHolonomicPlatformRelativePositionController.cpp | 2 +-
.../NJointHolonomicPlatformRelativePositionController.h | 2 +-
.../RobotUnitModuleControlThreadDataBuffer.cpp | 2 +-
source/RobotAPI/components/units/RobotUnit/SyntaxCheck.cpp | 1 -
12 files changed, 12 insertions(+), 13 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
index 78f0447f7..11b324603 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
@@ -41,7 +41,7 @@ namespace armarx
return "NJointCartesianTorqueController";
}
- NJointCartesianTorqueController::NJointCartesianTorqueController(RobotUnitPtr, NJointCartesianTorqueControllerConfigPtr config, const VirtualRobot::RobotPtr& r)
+ NJointCartesianTorqueController::NJointCartesianTorqueController(RobotUnit*, NJointCartesianTorqueControllerConfigPtr config, const VirtualRobot::RobotPtr& r)
{
ARMARX_CHECK_EXPRESSION(!config->nodeSetName.empty());
useSynchronizedRtRobot();
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h
index 0f5dcaef0..f4766748f 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h
@@ -77,7 +77,7 @@ namespace armarx
{
public:
using ConfigPtrT = NJointCartesianTorqueControllerConfigPtr;
- NJointCartesianTorqueController(RobotUnitPtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
+ NJointCartesianTorqueController(RobotUnit* prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
std::string getClassName(const Ice::Current&) const override;
@@ -93,7 +93,7 @@ namespace armarx
static NJointCartesianTorqueControllerConfigPtr GenerateConfigFromVariants(const StringVariantBaseMap& values);
NJointCartesianTorqueController(
- RobotUnitPtr prov,
+ RobotUnit* prov,
NJointCartesianTorqueControllerConfigPtr config,
const VirtualRobot::RobotPtr& r);
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
index 88ac3ec39..ab47171fa 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
@@ -40,7 +40,7 @@ namespace armarx
return "NJointCartesianVelocityController";
}
- NJointCartesianVelocityController::NJointCartesianVelocityController(RobotUnitPtr robotUnit, NJointCartesianVelocityControllerConfigPtr config, const VirtualRobot::RobotPtr& r)
+ NJointCartesianVelocityController::NJointCartesianVelocityController(RobotUnit* robotUnit, const NJointCartesianVelocityControllerConfigPtr& config, const VirtualRobot::RobotPtr& r)
{
useSynchronizedRtRobot();
ARMARX_CHECK_EXPRESSION(!config->nodeSetName.empty());
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
index 470be6138..be78c455c 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
@@ -90,7 +90,7 @@ namespace armarx
{
public:
using ConfigPtrT = NJointCartesianVelocityControllerConfigPtr;
- NJointCartesianVelocityController(RobotUnitPtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
+ NJointCartesianVelocityController(RobotUnit* prov, const NJointCartesianVelocityControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
std::string getClassName(const Ice::Current&) const override;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
index 321bea4a9..59f4b58be 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
@@ -42,7 +42,7 @@ namespace armarx
}
NJointCartesianVelocityControllerWithRamp::NJointCartesianVelocityControllerWithRamp(
- const RobotUnitPtr& robotUnit,
+ RobotUnit* robotUnit,
const NJointCartesianVelocityControllerWithRampConfigPtr& config,
const VirtualRobot::RobotPtr& r)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
index d85cad7d1..6e76d90c3 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
@@ -98,7 +98,7 @@ namespace armarx
{
public:
using ConfigPtrT = NJointCartesianVelocityControllerWithRampConfigPtr;
- NJointCartesianVelocityControllerWithRamp(const RobotUnitPtr& robotUnit, const NJointCartesianVelocityControllerWithRampConfigPtr& config, const VirtualRobot::RobotPtr&);
+ NJointCartesianVelocityControllerWithRamp(RobotUnit* robotUnit, const NJointCartesianVelocityControllerWithRampConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
std::string getClassName(const Ice::Current&) const override;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index ee21ebea9..013af7163 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -35,7 +35,7 @@ namespace armarx
NJointHolonomicPlatformGlobalPositionController::NJointHolonomicPlatformGlobalPositionController(
- const RobotUnitPtr&,
+ RobotUnit*,
const NJointHolonomicPlatformGlobalPositionControllerConfigPtr& cfg,
const VirtualRobot::RobotPtr&) :
pid(cfg->p, cfg->i, cfg->d, cfg->maxVelocity, cfg->maxAcceleration),
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
index d8f6cc66e..a818eb3cb 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
@@ -93,7 +93,7 @@ namespace armarx
using ConfigPtrT = NJointHolonomicPlatformGlobalPositionControllerConfigPtr;
inline NJointHolonomicPlatformGlobalPositionController(
- const RobotUnitPtr& robotUnit,
+ RobotUnit* robotUnit,
const NJointHolonomicPlatformGlobalPositionControllerConfigPtr& cfg,
const VirtualRobot::RobotPtr&);
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
index 7324764d1..7293c150c 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
@@ -32,7 +32,7 @@ namespace armarx
NJointHolonomicPlatformRelativePositionController::NJointHolonomicPlatformRelativePositionController(
- const RobotUnitPtr&,
+ RobotUnit*,
const NJointHolonomicPlatformRelativePositionControllerConfigPtr& cfg,
const VirtualRobot::RobotPtr&) :
pid(cfg->p, cfg->i, cfg->d, cfg->maxVelocity, cfg->maxAcceleration)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
index 54f2a8e7f..2f7e85d5a 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
@@ -80,7 +80,7 @@ namespace armarx
using ConfigPtrT = NJointHolonomicPlatformRelativePositionControllerConfigPtr;
inline NJointHolonomicPlatformRelativePositionController(
- const RobotUnitPtr& robotUnit,
+ RobotUnit* robotUnit,
const NJointHolonomicPlatformRelativePositionControllerConfigPtr& cfg,
const VirtualRobot::RobotPtr&);
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
index b310e7f57..66ae10ee6 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
@@ -25,7 +25,7 @@
#include "RobotUnitModuleControllerManagement.h"
#include "RobotUnitModuleDevices.h"
-#include "../NJointControllers/NJointController.h"
+#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
namespace armarx::RobotUnitModule
{
diff --git a/source/RobotAPI/components/units/RobotUnit/SyntaxCheck.cpp b/source/RobotAPI/components/units/RobotUnit/SyntaxCheck.cpp
index 7902e41d3..e2ee37caa 100644
--- a/source/RobotAPI/components/units/RobotUnit/SyntaxCheck.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/SyntaxCheck.cpp
@@ -20,7 +20,6 @@
* GNU General Public License
*/
-#include "NJointControllers/NJointController.h"
#include "RobotUnit.h"
#include "RobotUnitModules/RobotUnitModuleBase.h"
--
GitLab