Rename functions

bit-bots · Nov 23, 2024 · 664bd2b · 664bd2b
1 parent b154d66
commit 664bd2b
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
@@ -29,11 +29,11 @@ class WalkVisualizer : public bitbots_splines::AbstractVisualizer {
                                                     const geometry_msgs::msg::Pose &pose,
                                                     const std_msgs::msg::ColorRGBA &color);
 
-  std::pair<bitbots_quintic_walk::msg::WalkEngineDebug, visualization_msgs::msg::MarkerArray> publishEngineDebug(
+  std::pair<bitbots_quintic_walk::msg::WalkEngineDebug, visualization_msgs::msg::MarkerArray> buildEngineDebugMsgs(
       WalkResponse response);
-  std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerArray> publishIKDebug(
+  std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerArray> buildIKDebugMsgs(
       WalkResponse response, moveit::core::RobotStatePtr current_state, bitbots_splines::JointGoals joint_goals);
-  visualization_msgs::msg::MarkerArray publishWalkMarkers(WalkResponse response);
+  visualization_msgs::msg::MarkerArray buildWalkMarkers(WalkResponse response);
 
   void init(moveit::core::RobotModelPtr kinematic_model);
 

diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp b/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
@@ -15,22 +15,22 @@ void WalkVisualizer::publishDebug(const WalkResponse &current_response,
                                   const bitbots_splines::JointGoals &motor_goals) {
   visualization_msgs::msg::MarkerArray marker_array;
 
-  auto [engine_debug, engine_markers] = publishEngineDebug(current_response);
+  auto [engine_debug, engine_markers] = buildEngineDebugMsgs(current_response);
   marker_array.markers.insert(marker_array.markers.end(), engine_markers.markers.begin(), engine_markers.markers.end());
   pub_engine_debug_->publish(engine_debug);
 
-  auto [ik_debug, ik_markers] = publishIKDebug(current_response, current_state, motor_goals);
+  auto [ik_debug, ik_markers] = buildIKDebugMsgs(current_response, current_state, motor_goals);
   marker_array.markers.insert(marker_array.markers.end(), ik_markers.markers.begin(), ik_markers.markers.end());
   pub_debug_->publish(ik_debug);
 
-  auto walk_markers = publishWalkMarkers(current_response);
+  auto walk_markers = buildWalkMarkers(current_response);
   marker_array.markers.insert(marker_array.markers.end(), walk_markers.markers.begin(), walk_markers.markers.end());
 
   pub_debug_marker_->publish(marker_array);
 }
 
 std::pair<bitbots_quintic_walk::msg::WalkEngineDebug, visualization_msgs::msg::MarkerArray>
-WalkVisualizer::publishEngineDebug(WalkResponse response) {
+WalkVisualizer::buildEngineDebugMsgs(WalkResponse response) {
   // Here we will convert the walk engine response to a various debug messages and RViz markers
   // Initialize output containers
   bitbots_quintic_walk::msg::WalkEngineDebug msg;
@@ -111,7 +111,7 @@ WalkVisualizer::publishEngineDebug(WalkResponse response) {
   return {msg, marker_array};
 }
 
-std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerArray> WalkVisualizer::publishIKDebug(
+std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerArray> WalkVisualizer::buildIKDebugMsgs(
     WalkResponse response, moveit::core::RobotStatePtr current_state, bitbots_splines::JointGoals joint_goals) {
   bitbots_quintic_walk::msg::WalkDebug msg;
   visualization_msgs::msg::MarkerArray marker_array;
@@ -277,7 +277,7 @@ visualization_msgs::msg::Marker WalkVisualizer::createArrowMarker(const std::str
   return marker_msg;
 }
 
-visualization_msgs::msg::MarkerArray WalkVisualizer::publishWalkMarkers(WalkResponse response) {
+visualization_msgs::msg::MarkerArray WalkVisualizer::buildWalkMarkers(WalkResponse response) {
   visualization_msgs::msg::MarkerArray marker_array;
 
   // Create a marker for the last step