Add fixes after review

ros-controls · Dec 19, 2024 · c783fcc · c783fcc
1 parent e45fdbb
commit c783fcc
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Showing 5 changed files with 34 additions and 33 deletions.
diff --git a/controller_interface/include/semantic_components/force_torque_sensor.hpp b/controller_interface/include/semantic_components/force_torque_sensor.hpp
@@ -34,14 +34,16 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
 {
 public:
   /// Constructor for "standard" 6D FTS
-  explicit ForceTorqueSensor(const std::string & name) : SemanticComponentInterface{name,
-    // If 6D FTS use standard names
-    { {name + "/" + "force.x"},
-      {name + "/" + "force.y"},
-      {name + "/" + "force.z"},
-      {name + "/" + "torque.x"},
-      {name + "/" + "torque.y"},
-      {name + "/" + "torque.z"} }},
+  explicit ForceTorqueSensor(const std::string & name)
+  : SemanticComponentInterface(
+      name,
+      // If 6D FTS use standard names
+      {{name + "/" + "force.x"},
+       {name + "/" + "force.y"},
+       {name + "/" + "force.z"},
+       {name + "/" + "torque.x"},
+       {name + "/" + "torque.y"},
+       {name + "/" + "torque.z"}}),
     existing_axes_{{true, true, true, true, true, true}}
   {
   }

diff --git a/controller_interface/include/semantic_components/imu_sensor.hpp b/controller_interface/include/semantic_components/imu_sensor.hpp
@@ -28,18 +28,17 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
 {
 public:
   explicit IMUSensor(const std::string & name)
-  : SemanticComponentInterface{
-      name,
-      {{name + "/" + "orientation.x"},
-       {name + "/" + "orientation.y"},
-       {name + "/" + "orientation.z"},
-       {name + "/" + "orientation.w"},
-       {name + "/" + "angular_velocity.x"},
-       {name + "/" + "angular_velocity.y"},
-       {name + "/" + "angular_velocity.z"},
-       {name + "/" + "linear_acceleration.x"},
-       {name + "/" + "linear_acceleration.y"},
-       {name + "/" + "linear_acceleration.z"}}}
+  : SemanticComponentInterface(
+      name, {{name + "/" + "orientation.x"},
+             {name + "/" + "orientation.y"},
+             {name + "/" + "orientation.z"},
+             {name + "/" + "orientation.w"},
+             {name + "/" + "angular_velocity.x"},
+             {name + "/" + "angular_velocity.y"},
+             {name + "/" + "angular_velocity.z"},
+             {name + "/" + "linear_acceleration.x"},
+             {name + "/" + "linear_acceleration.y"},
+             {name + "/" + "linear_acceleration.z"}})
   {
   }
   /// Return orientation.

diff --git a/controller_interface/include/semantic_components/pose_sensor.hpp b/controller_interface/include/semantic_components/pose_sensor.hpp
@@ -29,15 +29,14 @@ class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose>
 public:
   /// Constructor for a standard pose sensor with interface names set based on sensor name.
   explicit PoseSensor(const std::string & name)
-  : SemanticComponentInterface{
-      name,
-      {{name + '/' + "position.x"},
-       {name + '/' + "position.y"},
-       {name + '/' + "position.z"},
-       {name + '/' + "orientation.x"},
-       {name + '/' + "orientation.y"},
-       {name + '/' + "orientation.z"},
-       {name + '/' + "orientation.w"}}}
+  : SemanticComponentInterface(
+      name, {{name + '/' + "position.x"},
+             {name + '/' + "position.y"},
+             {name + '/' + "position.z"},
+             {name + '/' + "orientation.x"},
+             {name + '/' + "orientation.y"},
+             {name + '/' + "orientation.z"},
+             {name + '/' + "orientation.w"}})
   {
   }
   /// Update and return position.

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -27,7 +27,7 @@ class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
 {
 public:
   explicit RangeSensor(const std::string & name)
-  : SemanticComponentInterface{name, {{name + "/" + "range"}}}
+  : SemanticComponentInterface(name, {name + "/" + "range"})
   {
   }
   /**

diff --git a/controller_interface/include/semantic_components/semantic_component_interface.hpp b/controller_interface/include/semantic_components/semantic_component_interface.hpp
@@ -27,13 +27,14 @@ template <typename MessageReturnType>
 class SemanticComponentInterface
 {
 public:
-  SemanticComponentInterface(const std::string & name, std::vector<std::string> interface_names)
-  : name_{name}, interface_names_{interface_names}
+  SemanticComponentInterface(
+    const std::string & name, const std::vector<std::string> & interface_names)
+  : name_(name), interface_names_(interface_names)
   {
     state_interfaces_.reserve(interface_names.size());
   }
 
-  explicit SemanticComponentInterface(const std::string & name, std::size_t size = 0) : name_{name}
+  explicit SemanticComponentInterface(const std::string & name, std::size_t size = 0) : name_(name)
   {
     interface_names_.reserve(size);
     state_interfaces_.reserve(size);
-Original file line number
+Diff line change
@@ Expand Up @@
     {
     public:
       explicit RangeSensor(const std::string & name)
-      : SemanticComponentInterface{name, {{name + "/" + "range"}}}
+      : SemanticComponentInterface(name, {name + "/" + "range"})
       {
       }
       /**
@@ Expand Down @@