From 6b773254786abc0957f555ec9830a368b3f9861b Mon Sep 17 00:00:00 2001
From: Raphael <ufdrv@student.kit.edu>
Date: Fri, 20 Jan 2017 16:19:26 +0100
Subject: [PATCH] now using pure virtual functions in target base (instead of
ducktyping)
---
source/RobotAPI/libraries/Controllers/LVL0Controller.h | 2 +-
.../libraries/Controllers/Targets/JointPositionTarget.h | 4 ++--
.../Controllers/Targets/JointPositionVelocityTarget.h | 4 ++--
.../RobotAPI/libraries/Controllers/Targets/JointTargetBase.h | 2 ++
.../libraries/Controllers/Targets/JointTorqueTarget.h | 4 ++--
.../libraries/Controllers/Targets/JointVelocityTarget.h | 4 ++--
6 files changed, 11 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/libraries/Controllers/LVL0Controller.h b/source/RobotAPI/libraries/Controllers/LVL0Controller.h
index e38510288..fafa5b0ac 100644
--- a/source/RobotAPI/libraries/Controllers/LVL0Controller.h
+++ b/source/RobotAPI/libraries/Controllers/LVL0Controller.h
@@ -50,7 +50,7 @@ namespace armarx
TargetType* getTarget()
{
- return target;
+ return & target;
}
void resetTarget()
diff --git a/source/RobotAPI/libraries/Controllers/Targets/JointPositionTarget.h b/source/RobotAPI/libraries/Controllers/Targets/JointPositionTarget.h
index 9bc7d9d13..39c788d5d 100644
--- a/source/RobotAPI/libraries/Controllers/Targets/JointPositionTarget.h
+++ b/source/RobotAPI/libraries/Controllers/Targets/JointPositionTarget.h
@@ -46,11 +46,11 @@ namespace armarx
{
return ePositionControl;
}
- virtual void reset()
+ virtual void reset() override
{
position = ControllerConstatns::ValueNotSetNaN;
}
- bool isValid() const
+ virtual bool isValid() const override
{
return std::isfinite(position);
}
diff --git a/source/RobotAPI/libraries/Controllers/Targets/JointPositionVelocityTarget.h b/source/RobotAPI/libraries/Controllers/Targets/JointPositionVelocityTarget.h
index d2622cc91..5cd022809 100644
--- a/source/RobotAPI/libraries/Controllers/Targets/JointPositionVelocityTarget.h
+++ b/source/RobotAPI/libraries/Controllers/Targets/JointPositionVelocityTarget.h
@@ -47,12 +47,12 @@ namespace armarx
{
return ePositionVelocityControl;
}
- virtual void reset()
+ virtual void reset() override
{
position = ControllerConstatns::ValueNotSetNaN;
velocity = ControllerConstatns::ValueNotSetNaN;
}
- bool isValid() const
+ virtual bool isValid() const override
{
return std::isfinite(position) && std::isfinite(velocity);
}
diff --git a/source/RobotAPI/libraries/Controllers/Targets/JointTargetBase.h b/source/RobotAPI/libraries/Controllers/Targets/JointTargetBase.h
index 0dc9ee2b6..d7077bde9 100644
--- a/source/RobotAPI/libraries/Controllers/Targets/JointTargetBase.h
+++ b/source/RobotAPI/libraries/Controllers/Targets/JointTargetBase.h
@@ -43,6 +43,8 @@ namespace armarx
{
public:
virtual ControlMode getType() const = 0;
+ virtual void reset() = 0;
+ virtual bool isValid() const = 0;
};
}
diff --git a/source/RobotAPI/libraries/Controllers/Targets/JointTorqueTarget.h b/source/RobotAPI/libraries/Controllers/Targets/JointTorqueTarget.h
index 8b4ffad81..84860c756 100644
--- a/source/RobotAPI/libraries/Controllers/Targets/JointTorqueTarget.h
+++ b/source/RobotAPI/libraries/Controllers/Targets/JointTorqueTarget.h
@@ -46,11 +46,11 @@ namespace armarx
{
return eTorqueControl;
}
- virtual void reset()
+ virtual void reset() override
{
torque = ControllerConstatns::ValueNotSetNaN;
}
- bool isValid() const
+ virtual bool isValid() const override
{
return std::isfinite(torque);
}
diff --git a/source/RobotAPI/libraries/Controllers/Targets/JointVelocityTarget.h b/source/RobotAPI/libraries/Controllers/Targets/JointVelocityTarget.h
index 8f44b2c05..88265541b 100644
--- a/source/RobotAPI/libraries/Controllers/Targets/JointVelocityTarget.h
+++ b/source/RobotAPI/libraries/Controllers/Targets/JointVelocityTarget.h
@@ -46,11 +46,11 @@ namespace armarx
{
return eVelocityControl;
}
- virtual void reset()
+ virtual void reset() override
{
velocity = ControllerConstatns::ValueNotSetNaN;
}
- bool isValid() const
+ virtual bool isValid() const override
{
return std::isfinite(velocity);
}
--
GitLab