From 11b7d209d382259fdbb47ddfbb2d24830131cf77 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich <christoph.froehlich@ait.ac.at> Date: Wed, 6 Dec 2023 13:01:32 +0000 Subject: [PATCH] Rename updateGains method --- .../pid_trajectory_plugin.hpp | 2 +- .../src/pid_trajectory_plugin.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/joint_trajectory_controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp b/joint_trajectory_controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp index 9c054c0627..3718f04847 100644 --- a/joint_trajectory_controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp +++ b/joint_trajectory_controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp @@ -72,7 +72,7 @@ class PidTrajectoryPlugin : public TrajectoryControllerBase /** * @brief parse PID gains from parameter struct */ - void updateGains(); + void parseGains(); // number of command joints size_t num_cmd_joints_; diff --git a/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp b/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp index a894b6928a..7ca9b8b4a9 100644 --- a/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp +++ b/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp @@ -63,7 +63,7 @@ bool PidTrajectoryPlugin::configure() bool PidTrajectoryPlugin::activate() { params_ = param_listener_->get_params(); - updateGains(); + parseGains(); return true; }; @@ -72,13 +72,13 @@ bool PidTrajectoryPlugin::updateGainsRT() if (param_listener_->is_old(params_)) { params_ = param_listener_->get_params(); - updateGains(); + parseGains(); } return true; } -void PidTrajectoryPlugin::updateGains() +void PidTrajectoryPlugin::parseGains() { for (size_t i = 0; i < num_cmd_joints_; ++i) {