Move JointAndNJointControllers from RobotUnit/structs.h to...

Move JointAndNJointControllers from RobotUnit/structs.h to RobotUnit/util/JointAndNJointControllers.h

source/RobotAPI/components/units/RobotUnit/CMakeLists.txt

@@ -51,6 +51,7 @@ set(LIB_HEADERS
     util/KeyValueVector.h
     util/AtomicWrapper.h
     util/Time.h
+    util/JointAndNJointControllers.h
     PDController.h
     structs.h
     Constants.h

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h

@@ -49,6 +49,7 @@
 #include "../Devices/SensorDevice.h"
 
 #include "../util.h"
+#include "../util/JointAndNJointControllers.h"
 #include "../structs.h"
 
 namespace VirtualRobot

source/RobotAPI/components/units/RobotUnit/RobotUnit.h

@@ -54,6 +54,7 @@
 #include "Devices/RTThreadTimingsSensorDevice.h"
 #include "util.h"
 #include "structs.h"
+#include "util/JointAndNJointControllers.h"
 #include "RobotUnitObserver.h"
 
 namespace armarx

source/RobotAPI/components/units/RobotUnit/SyntaxCheck.cpp

@@ -43,6 +43,7 @@
 #include "SensorValues/SensorValueBase.h"
 #include "SensorValues/SensorValueForceTorque.h"
 #include "structs.h"
+#include "util/JointAndNJointControllers.h"
 #include "Units/KinematicSubUnit.h"
 #include "Units/RobotUnitSubUnit.h"
 #include "Units/PlatformSubUnit.h"

source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h

@@ -27,6 +27,7 @@
 
 #include "../util.h"
 #include "../structs.h"
+#include "../util/JointAndNJointControllers.h"
 
 namespace armarx
 {

source/RobotAPI/components/units/RobotUnit/structs.h

@@ -49,29 +49,5 @@ namespace armarx
         std::vector<std::unique_ptr<SensorValueBase>> sensors;
         std::vector<std::vector<std::unique_ptr<ControlTargetBase>>> control;
     };
-    /// @brief Structure used by the RobotUnit to swap lists of Joint and NJoint controllers
-    struct JointAndNJointControllers
-    {
-        JointAndNJointControllers(std::size_t n = 0)
-            :   jointControllers(n),
-                nJointControllers(n),
-                jointToNJointControllerAssignement(n, Sentinel())
-        {}
-
-        void resetAssignement()
-        {
-            jointToNJointControllerAssignement.assign(jointControllers.size(), Sentinel());
-        }
-
-        std::vector<JointController*> jointControllers;
-        std::vector<NJointController*> nJointControllers;
-        /// @brief this is set by RobotUnit::writeRequestedControllers
-        std::vector<std::size_t> jointToNJointControllerAssignement;
-
-        static constexpr std::size_t Sentinel()
-        {
-            return std::numeric_limits<std::size_t>::max();
-        }
-    };
 }
 #endif

source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::RobotUnit
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_JointAndNJointControllers_H
+#define _ARMARX_UNIT_RobotAPI_RobotUnit_JointAndNJointControllers_H
+
+#include <vector>
+
+namespace armarx
+{
+    class JointController;
+    class NJointController;
+    /// @brief Structure used by the RobotUnit to swap lists of Joint and NJoint controllers
+    struct JointAndNJointControllers
+    {
+        JointAndNJointControllers(std::size_t n = 0)
+            :   jointControllers(n),
+                nJointControllers(n),
+                jointToNJointControllerAssignement(n, Sentinel())
+        {}
+
+        void resetAssignement()
+        {
+            jointToNJointControllerAssignement.assign(jointControllers.size(), Sentinel());
+        }
+
+        std::vector<JointController*> jointControllers;
+        std::vector<NJointController*> nJointControllers;
+        /// @brief this is set by RobotUnit::writeRequestedControllers
+        std::vector<std::size_t> jointToNJointControllerAssignement;
+
+        static constexpr std::size_t Sentinel()
+        {
+            return std::numeric_limits<std::size_t>::max();
+        }
+    };
+}
+#endif