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Add virtual modifier to the functions of Joint and Sensor component #178

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Merged
bmagyar merged 4 commits into from
Oct 3, 2020
Merged

Add virtual modifier to the functions of Joint and Sensor component #178

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ba444ed
Add virtual modifier to the functions. Refactor some lines.
destogl Oct 3, 2020
f7d3bd6
Update hardware_interface/src/components/joint.cpp
destogl Oct 3, 2020
b20b3ba
Update hardware_interface/src/components/sensor.cpp
destogl Oct 3, 2020
57c28ec
fixup removing include
bmagyar Oct 3, 2020
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20 changes: 14 additions & 6 deletions hardware_interface/include/hardware_interface/components/joint.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ class Joint
* return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type configure(const ComponentInfo & joint_info);

/**
Expand All @@ -58,6 +59,7 @@ class Joint
* \return string list with command interfaces.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
std::vector<std::string> get_command_interfaces() const;

/**
Expand All @@ -66,6 +68,7 @@ class Joint
* \return string list with state interfaces.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
std::vector<std::string> get_state_interfaces() const;

/**
Expand All @@ -82,9 +85,9 @@ class Joint
* is empty; return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type get_command(
std::vector<double> & command,
const std::vector<std::string> & interfaces) const;
std::vector<double> & command, const std::vector<std::string> & interfaces) const;

/**
* \brief Get complete command list for the joint. This function is used by the hardware to get
Expand All @@ -95,6 +98,7 @@ class Joint
* \return return_type::OK always.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type get_command(std::vector<double> & command) const;

/**
Expand All @@ -114,9 +118,9 @@ class Joint
* (see: https://github.com/ros-controls/ros2_control/issues/129)
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type set_command(
const std::vector<double> & command,
const std::vector<std::string> & interfaces);
const std::vector<double> & command, const std::vector<std::string> & interfaces);

/**
* \brief Get complete state list from the joint. This function is used by the hardware to get
Expand All @@ -129,6 +133,7 @@ class Joint
* of limits; return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type set_command(const std::vector<double> & command);

/**
Expand All @@ -144,6 +149,7 @@ class Joint
* is empty; return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type get_state(
std::vector<double> & state,
const std::vector<std::string> & interfaces) const;
Expand All @@ -157,6 +163,7 @@ class Joint
* \return return_type::OK always.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type get_state(std::vector<double> & state) const;

/**
Expand All @@ -171,9 +178,9 @@ class Joint
* defined for the joint; return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type set_state(
const std::vector<double> & state,
const std::vector<std::string> & interfaces);
const std::vector<double> & state, const std::vector<std::string> & interfaces);

/**
* \brief Set complete state list from the joint.This function is used by the hardware to set its
Expand All @@ -185,6 +192,7 @@ class Joint
* joint's state interfaces, return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type set_state(const std::vector<double> & state);

protected:
Expand Down
14 changes: 9 additions & 5 deletions hardware_interface/include/hardware_interface/components/sensor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ class Sensor
* return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type configure(const ComponentInfo & joint_info);

/**
Expand All @@ -58,7 +59,8 @@ class Sensor
* \return string list with state interfaces.
*/
HARDWARE_INTERFACE_PUBLIC
std::vector<std::string> get_state_interfaces();
virtual
std::vector<std::string> get_state_interfaces() const;

/**
* \brief Get state list from the sensor. This function is used by the controller to get the
Expand All @@ -73,9 +75,9 @@ class Sensor
* is empty; return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type get_state(
std::vector<double> & state,
const std::vector<std::string> & interfaces) const;
std::vector<double> & state, const std::vector<std::string> & interfaces) const;

/**
* \brief Get complete state list from the sensor. This function is used by the controller to get
Expand All @@ -86,6 +88,7 @@ class Sensor
* \return return_type::OK always.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type get_state(std::vector<double> & state) const;

/**
Expand All @@ -100,9 +103,9 @@ class Sensor
* defined for the sensor; return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type set_state(
const std::vector<double> & state,
const std::vector<std::string> & interfaces);
const std::vector<double> & state, const std::vector<std::string> & interfaces);

/**
* \brief Set complete state list from the sensor.This function is used by the hardware to set its
Expand All @@ -114,6 +117,7 @@ class Sensor
* sensor's state interfaces, return_type::OK otherwise.
*/
HARDWARE_INTERFACE_EXPORT
virtual
return_type set_state(const std::vector<double> & state);

protected:
Expand Down
4 changes: 1 addition & 3 deletions hardware_interface/src/components/joint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@
#include <vector>

#include "hardware_interface/components/joint.hpp"

#include "hardware_interface/components/component_info.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"

Expand Down Expand Up @@ -61,8 +60,7 @@ return_type Joint::get_command(std::vector<double> & command) const
}

return_type Joint::set_command(
const std::vector<double> & command,
const std::vector<std::string> & interfaces)
const std::vector<double> & command, const std::vector<std::string> & interfaces)
{
return set_internal_values(command, interfaces, info_.command_interfaces, commands_);
}
Expand Down
3 changes: 1 addition & 2 deletions hardware_interface/src/components/sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@
#include <vector>

#include "hardware_interface/components/sensor.hpp"

#include "hardware_interface/components/component_info.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"

Expand All @@ -36,7 +35,7 @@ return_type Sensor::configure(const ComponentInfo & joint_info)
return return_type::OK;
}

std::vector<std::string> Sensor::get_state_interfaces()
std::vector<std::string> Sensor::get_state_interfaces() const
{
return info_.state_interfaces;
}
Expand Down