[Personalrobots-commit] SF.net SVN: personalrobots:[3881] pkg/trunk

[<stu...@us...>]

Revision: 3881
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3881&view=rev
Author:   stuglaser
Date:     2008-09-02 23:44:37 +0000 (Tue, 02 Sep 2008)

Log Message:
-----------
Moved Pid out of the controller namespace.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh
    pkg/trunk/drivers/simulator/gazebo_plugin/src/Pr2_Actarray.cc
    pkg/trunk/mechanism/mechanism_model/include/mechanism_model/pid.h
    pkg/trunk/mechanism/mechanism_model/src/pid.cpp

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh	2008-09-02 23:34:45 UTC (rev 3880)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh	2008-09-02 23:44:37 UTC (rev 3881)
@@ -91,7 +91,7 @@
       private: Joint *joints[GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
 
       // we'll declare a pid controller for each hinger/slider/... joint
-      private: controller::Pid *pids[GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
+      private: Pid *pids[GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
 
       // number of joints in this array
       private: int num_joints;
@@ -115,10 +115,10 @@
       private: HingeJoint *finger_tip_r_joint [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
 
       // assign pid for each finger for PD_CONTROL
-      private: controller::Pid *finger_l_pids     [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
-      private: controller::Pid *finger_tip_l_pids [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
-      private: controller::Pid *finger_r_pids     [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
-      private: controller::Pid *finger_tip_r_pids [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
+      private: Pid *finger_l_pids     [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
+      private: Pid *finger_tip_l_pids [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
+      private: Pid *finger_r_pids     [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
+      private: Pid *finger_tip_r_pids [GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];
 
       // get name of each child, e.g. front_left_caster_steer
       std::string actarrayName[GAZEBO_PR2ARRAY_MAX_NUM_ACTUATORS];

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/Pr2_Actarray.cc
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/Pr2_Actarray.cc	2008-09-02 23:34:45 UTC (rev 3880)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/Pr2_Actarray.cc	2008-09-02 23:44:37 UTC (rev 3881)
@@ -44,7 +44,6 @@
 
 using namespace gazebo;
 using namespace PR2;
-using namespace controller;
 
 
 //GZ_REGISTER_STATIC_CONTROLLER("pr2_actarray", Pr2_Actarray);

Modified: pkg/trunk/mechanism/mechanism_model/include/mechanism_model/pid.h
===================================================================
--- pkg/trunk/mechanism/mechanism_model/include/mechanism_model/pid.h	2008-09-02 23:34:45 UTC (rev 3880)
+++ pkg/trunk/mechanism/mechanism_model/include/mechanism_model/pid.h	2008-09-02 23:44:37 UTC (rev 3881)
@@ -65,8 +65,6 @@
 */
 /***************************************************/
 class TiXmlElement;
-namespace controller
-{
 
 class Pid
 {
@@ -184,5 +182,3 @@
   double i_min_;   /**< Minimum allowable integral term. */
   double cmd_;     /**< Command to send. */
 };
-
-}

Modified: pkg/trunk/mechanism/mechanism_model/src/pid.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_model/src/pid.cpp	2008-09-02 23:34:45 UTC (rev 3880)
+++ pkg/trunk/mechanism/mechanism_model/src/pid.cpp	2008-09-02 23:44:37 UTC (rev 3881)
@@ -34,8 +34,6 @@
 #include "mechanism_model/pid.h"
 #include "tinyxml/tinyxml.h"
 
-using namespace controller;
-
 Pid::Pid(double P, double I, double D, double I1, double I2) :
   p_gain_(P), i_gain_(I), d_gain_(D), i_max_(I1), i_min_(I2)
 {


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