[Personalrobots-commit] SF.net SVN: personalrobots:[2071] pkg/trunk

[<sac...@us...>]

Revision: 2071
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2071&view=rev
Author:   sachinchitta
Date:     2008-07-24 20:27:06 +0000 (Thu, 24 Jul 2008)

Log Message:
-----------
Changed MechanismControl class definition to BaseControl class definition

Modified Paths:
--------------
    pkg/trunk/mechanism/mechanism_control/include/mechanism_control/base_control.h
    pkg/trunk/mechanism/mechanism_control/src/base_control.cpp
    pkg/trunk/robot_control_loops/pr2_etherDrive/src/pr2BaseEtherdrive.cpp

Modified: pkg/trunk/mechanism/mechanism_control/include/mechanism_control/base_control.h
===================================================================
--- pkg/trunk/mechanism/mechanism_control/include/mechanism_control/base_control.h	2008-07-24 20:07:32 UTC (rev 2070)
+++ pkg/trunk/mechanism/mechanism_control/include/mechanism_control/base_control.h	2008-07-24 20:27:06 UTC (rev 2071)
@@ -24,8 +24,8 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 // POSSIBILITY OF SUCH DAMAGE.
 //////////////////////////////////////////////////////////////////////////////
-#ifndef MECHANISM_CONTROL_H
-#define MECHANISM_CONTROL_H
+#ifndef BASE_CONTROL_H
+#define BASE_CONTROL_H
 
 #include <mechanism_model/robot.h>
 #include <rosthread/mutex.h>
@@ -46,11 +46,11 @@
 
 typedef Controller*(*ControllerAllocationFunc)(const char *);
 
-class MechanismControl{
+class BaseControl{
 
   public:
 
-  MechanismControl();
+  BaseControl();
 
   void update(); //Must be realtime safe
 

Modified: pkg/trunk/mechanism/mechanism_control/src/base_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/base_control.cpp	2008-07-24 20:07:32 UTC (rev 2070)
+++ pkg/trunk/mechanism/mechanism_control/src/base_control.cpp	2008-07-24 20:27:06 UTC (rev 2071)
@@ -37,11 +37,11 @@
 
 using namespace std;
 
-MechanismControl::MechanismControl(){
+BaseControl::BaseControl(){
   this->hw = NULL;
 }
 
-void MechanismControl::init(HardwareInterface *hw){
+void BaseControl::init(HardwareInterface *hw){
 
   this->hw = hw;
 
@@ -50,7 +50,7 @@
   this->initControllers();
 }
 
-void MechanismControl::initRobot(){
+void BaseControl::initRobot(){
   r = new Robot("robot"); 
 
   r->numJoints = NUM_JOINTS;
@@ -72,7 +72,7 @@
   }
 }
 
-void MechanismControl::initControllers(){
+void BaseControl::initControllers(){
   controller = new BaseController(r,"baseController");
   char *c_filename = getenv("ROS_PACKAGE_PATH");
   std::stringstream filename;
@@ -82,7 +82,7 @@
 }
 
 //This function is called only from the realtime loop.  Everything it calls must also be realtime safe.
-void MechanismControl::update(){
+void BaseControl::update(){
   //Clear actuator commands
 
   //Process robot model transmissions

Modified: pkg/trunk/robot_control_loops/pr2_etherDrive/src/pr2BaseEtherdrive.cpp
===================================================================
--- pkg/trunk/robot_control_loops/pr2_etherDrive/src/pr2BaseEtherdrive.cpp	2008-07-24 20:07:32 UTC (rev 2070)
+++ pkg/trunk/robot_control_loops/pr2_etherDrive/src/pr2BaseEtherdrive.cpp	2008-07-24 20:27:06 UTC (rev 2071)
@@ -74,7 +74,7 @@
   //h.init("BaseEtherdrive.xml"); //Should this be a command-line argument?
 
   //mc.init(h.hardwareInterface, char *namespace or char *init.xml);
-  MechanismControl mc;
+  BaseControl mc;
   mc.init(h.hw); //If not hard-coded, this is where the ROS namespace or configuration file would be passed in
   mc.controller->setVelocity(-0,0,0);
 


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.