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[Personalrobots-commit] SF.net SVN: personalrobots:[10444] pkg/trunk
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From: <jfa...@us...> - 2009-02-02 23:13:14
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Revision: 10444
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10444&view=rev
Author: jfaustwg
Date: 2009-02-02 23:13:06 +0000 (Mon, 02 Feb 2009)
Log Message:
-----------
service request/response -> Request/Response
Modified Paths:
--------------
pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_dynamics_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_position_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_velocity_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller_pos.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/grasp_point_node.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_qualification.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_velocity_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_arm_dynamics_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_velocity_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_qualification.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_velocity_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/test/test_arm_dynamics_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/test/test_arm_trajectory_service.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/test/test_grasp_point_node.cpp
pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/hysteresis_controller.h
pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/sine_sweep_controller.h
pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/src/hysteresis_controller.cpp
pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/src/sine_sweep_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_effort_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_orientation_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_position_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_velocity_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_autotuner.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_blind_calibration_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_pd_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_smoothing_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_velocity_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/lqr_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_effort_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_orientation_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_position_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_velocity_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_autotuner.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_blind_calibration_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_pd_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_position_smoothing_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/joint_velocity_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/lqr_controller.cpp
pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp
pkg/trunk/drivers/cam/bumblebee_bridge/bumblebee_bridge.cpp
pkg/trunk/drivers/imu/imu_node/imu_node.cc
pkg/trunk/drivers/robot/katana/nodes/katana_client/katana_client.cpp
pkg/trunk/drivers/robot/katana/nodes/katana_server/katana_server.cpp
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/include/point_cloud_assembler/base_assembler_srv.h
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/grab_cloud_data.cpp
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/point_cloud_snapshotter.cpp
pkg/trunk/drivers/robot/pr2/pr2_power_board/include/power_node.h
pkg/trunk/drivers/robot/pr2/pr2_power_board/src/power_node/power_node.cpp
pkg/trunk/hardware_test/self_test/include/self_test/self_test.h
pkg/trunk/hardware_test/self_test/src/run_selftest.cpp
pkg/trunk/highlevel/highlevel_controllers/src/control_cli.cpp
pkg/trunk/highlevel/highlevel_controllers/src/move_arm.cpp
pkg/trunk/highlevel/highlevel_controllers/src/move_arm2.cpp
pkg/trunk/highlevel/highlevel_controllers/src/move_base.cpp
pkg/trunk/highlevel/highlevel_controllers/src/move_end_effector.cpp
pkg/trunk/mapping/collision_map/src/collision_map_buffer.cpp
pkg/trunk/mapping/door_handle_detector/src/door_handle_detector.cpp
pkg/trunk/mapping/table_object_detector/src/table_object_detector.cpp
pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/CollisionSpaceMonitor.h
pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp
pkg/trunk/motion_planning/kinematic_planning/test/avoid_monster.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/base/execute_plan_to_state_minimal.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/right_arm/execute_plan_to_position_minimal.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/right_arm/execute_plan_to_state.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/right_arm/execute_plan_to_state_minimal.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/right_arm/execute_replan_to_state.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/right_arm/test_path_execution.cpp
pkg/trunk/motion_planning/planning_research/robarm3d/include/robarm3d/plan_path_node.h
pkg/trunk/motion_planning/planning_research/robarm3d/src/test/plan_path_node.cpp
pkg/trunk/motion_planning/planning_research/robarm3d/src/test/sim_grasp_path.cpp
pkg/trunk/motion_planning/planning_research/robarm3d/src/test/sim_path_srv.cpp
pkg/trunk/motion_planning/planning_research/robarm3d/src/test/test_plan_path.cpp
pkg/trunk/nav/amcl_player/amcl_player.cc
pkg/trunk/nav/deadreckon/deadreckon.cpp
pkg/trunk/nav/deadreckon/test_deadreckon_service.cpp
pkg/trunk/nav/nav_view/src/nav_view/nav_view_panel.cpp
pkg/trunk/nav/nav_view_sdl/nav_view.cpp
pkg/trunk/nav/slam_gmapping/src/slam_gmapping.cpp
pkg/trunk/nav/slam_gmapping/src/slam_gmapping.h
pkg/trunk/nav/wavefront_player/wavefront_player.cc
pkg/trunk/openrave_planning/openraveros/src/rosserver.h
pkg/trunk/openrave_planning/openraveros/src/session.h
pkg/trunk/openrave_planning/orrosplanning/src/rosrobotcontroller.h
pkg/trunk/prcore/tf/include/tf/transform_listener.h
pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp
pkg/trunk/util/filter_coefficient_server/src/filter_coeff_client.cpp
pkg/trunk/util/filter_coefficient_server/test/check_function_calls.cpp
pkg/trunk/util/filter_demo/src/filtering_example.cpp
pkg/trunk/util/kinematics/libKinematics/include/libKinematics/pr2_ik_node.h
pkg/trunk/util/kinematics/libKinematics/src/pr2_ik_node.cpp
pkg/trunk/util/mux/mux.cpp
pkg/trunk/util/mux/switch.cpp
pkg/trunk/vision/camera_grab_samples/bumblebee_grab_sample/bumblebee_grab_sample.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/map_display.cpp
pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp
pkg/trunk/world_models/map_saver/src/map_saver.cpp
pkg/trunk/world_models/map_server/include/map_server/image_loader.h
pkg/trunk/world_models/map_server/src/image_loader.cpp
pkg/trunk/world_models/map_server/src/main.cpp
pkg/trunk/world_models/map_server/test/rtest.cpp
pkg/trunk/world_models/map_server/test/utest.cpp
pkg/trunk/world_models/topological_map/src/ros_bottleneck_graph.cpp
Modified: pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h
===================================================================
--- pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -87,7 +87,7 @@
std_msgs::BaseVel _vel;
// service messages
- pr2_mechanism_controllers::WheelRadiusMultiplier::request _srv_snd, _srv_rsp;
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Request _srv_snd, _srv_rsp;
// active sensors
bool _odom_active, _imu_active, _mech_active, _completed;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_dynamics_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_dynamics_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_dynamics_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -96,14 +96,14 @@
// * @brief Overloaded method for convenience
// * @param req
// */
-// void setJointCmd(robot_msgs::SetJointPosCmd::request &req);
+// void setJointCmd(robot_msgs::SetJointPosCmd::Request &req);
void getJointCmd(robot_msgs::JointCmd & cmd) const;
/*!
* \brief Get latest position command to the joint: revolute (angle) and prismatic (position).
*/
-// void getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::response &resp);
+// void getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Response &resp);
// void getCurrentConfiguration(std::vector<double> &);
@@ -114,9 +114,9 @@
boost::mutex arm_controller_lock_;
-// void setJointGains(const pr2_mechanism_controllers::SetJointGains::request &req);
+// void setJointGains(const pr2_mechanism_controllers::SetJointGains::Request &req);
-// void getJointGains(pr2_mechanism_controllers::GetJointGains::response &resp);
+// void getJointGains(pr2_mechanism_controllers::GetJointGains::Response &resp);
controller::JointEffortController* getJointEffortControllerByName(std::string name);
@@ -213,8 +213,8 @@
* @param resp The response is empty
* @return
*/
- bool setJointSrv(robot_srvs::SetJointCmd::request &req,
- robot_srvs::SetJointCmd::response &resp);
+ bool setJointSrv(robot_srvs::SetJointCmd::Request &req,
+ robot_srvs::SetJointCmd::Response &resp);
/** @brief service that returns the goal of the controller
* @note if you know the goal has been reached and you do not want to subscribe to the /mechanism_state topic, you can use it as a hack to get the position of the arm
@@ -222,8 +222,8 @@
* @param resp the response, contains a JointPosCmd message with the goal of the controller
* @return
*/
- bool getJointCmd(robot_srvs::GetJointCmd::request &req,
- robot_srvs::GetJointCmd::response &resp);
+ bool getJointCmd(robot_srvs::GetJointCmd::Request &req,
+ robot_srvs::GetJointCmd::Response &resp);
private:
robot_msgs::JointCmd msg_; //The message used by the ROS callback
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_position_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_position_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_position_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -108,7 +108,7 @@
// * @brief Overloaded method for convenience
// * @param req
// */
-// void setJointPosCmd(pr2_mechanism_controllers::SetJointPosCmd::request &req);
+// void setJointPosCmd(pr2_mechanism_controllers::SetJointPosCmd::Request &req);
void setJointPosCmd(const pr2_mechanism_controllers::JointPosCmd & cmd);
@@ -117,7 +117,7 @@
/*!
* \brief Get latest position command to the joint: revolute (angle) and prismatic (position).
*/
-// void getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::response &resp);
+// void getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Response &resp);
// void getCurrentConfiguration(std::vector<double> &);
@@ -128,9 +128,9 @@
boost::mutex arm_controller_lock_;
-// void setJointGains(const pr2_mechanism_controllers::SetJointGains::request &req);
+// void setJointGains(const pr2_mechanism_controllers::SetJointGains::Request &req);
-// void getJointGains(pr2_mechanism_controllers::GetJointGains::response &resp);
+// void getJointGains(pr2_mechanism_controllers::GetJointGains::Response &resp);
controller::JointPositionController* getJointControllerByName(std::string name);
@@ -228,8 +228,8 @@
* @param resp The response is empty
* @return
*/
- bool setJointPosSrv(pr2_mechanism_controllers::SetJointPosCmd::request &req,
- pr2_mechanism_controllers::SetJointPosCmd::response &resp);
+ bool setJointPosSrv(pr2_mechanism_controllers::SetJointPosCmd::Request &req,
+ pr2_mechanism_controllers::SetJointPosCmd::Response &resp);
/** @brief sets a command for all the joints managed by the controller at once, by specifying an array
* This is a lightweight version of setJointPosHeadless when the caller knows the order of the joints.
@@ -247,8 +247,8 @@
* @param resp empty
* @return true if the trajectory could be followed
*/
- bool setJointPosTarget(pr2_mechanism_controllers::SetJointTarget::request &req,
- pr2_mechanism_controllers::SetJointTarget::response &resp);
+ bool setJointPosTarget(pr2_mechanism_controllers::SetJointTarget::Request &req,
+ pr2_mechanism_controllers::SetJointTarget::Response &resp);
/** @brief non blocking service to specify a position target
* Given an array of tuples (name, position, error margin), the controllers sets this as a new objective for the arm controller, for these elements only. This service retutrns immediately.
@@ -259,8 +259,8 @@
* @param resp
* @return
*/
- bool setJointPosHeadless(pr2_mechanism_controllers::SetJointTarget::request &req,
- pr2_mechanism_controllers::SetJointTarget::response &resp);
+ bool setJointPosHeadless(pr2_mechanism_controllers::SetJointTarget::Request &req,
+ pr2_mechanism_controllers::SetJointTarget::Response &resp);
/** @brief service that returns the goal of the controller
* @note if you know the goal has been reached and you do not want to subscribe to the /mechanism_state topic, you can use it as a hack to get the position of the arm
@@ -268,8 +268,8 @@
* @param resp the response, contains a JointPosCmd message with the goal of the controller
* @return
*/
- bool getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::request &req,
- pr2_mechanism_controllers::GetJointPosCmd::response &resp);
+ bool getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Request &req,
+ pr2_mechanism_controllers::GetJointPosCmd::Response &resp);
/** @brief ROS callback hook
* Provides a ROS callback to set a new goal. The topic the controller listens to is set in the xml init file.
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -208,17 +208,17 @@
* @param resp the response, contains a JointPosCmd message with the goal of the controller
* @return
*/
- bool getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::request &req,
- pr2_mechanism_controllers::GetJointPosCmd::response &resp);
+ bool getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Request &req,
+ pr2_mechanism_controllers::GetJointPosCmd::Response &resp);
- bool setJointTrajSrv(pr2_mechanism_controllers::TrajectoryStart::request &req,
- pr2_mechanism_controllers::TrajectoryStart::response &resp);
+ bool setJointTrajSrv(pr2_mechanism_controllers::TrajectoryStart::Request &req,
+ pr2_mechanism_controllers::TrajectoryStart::Response &resp);
- bool queryJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::request &req,
- pr2_mechanism_controllers::TrajectoryQuery::response &resp);
+ bool queryJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::Request &req,
+ pr2_mechanism_controllers::TrajectoryQuery::Response &resp);
- bool cancelJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::request &req,
- pr2_mechanism_controllers::TrajectoryQuery::response &resp);
+ bool cancelJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::Request &req,
+ pr2_mechanism_controllers::TrajectoryQuery::Response &resp);
void deleteTrajectoryFromQueue(int id);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_velocity_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_velocity_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_velocity_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -85,12 +85,12 @@
*
* \param double pos Position command to issue
*/
- void setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::request &req);
+ void setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::Request &req);
/*!
* \brief Get latest position command to the joint: revolute (angle) and prismatic (position).
*/
- void getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::response &resp);
+ void getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::Response &resp);
void getCurrentConfiguration(std::vector<double> &);
/*!
@@ -100,9 +100,9 @@
boost::mutex arm_controller_lock_;
- void setJointGains(const pr2_mechanism_controllers::SetJointGains::request &req);
+ void setJointGains(const pr2_mechanism_controllers::SetJointGains::Request &req);
- void getJointGains(pr2_mechanism_controllers::GetJointGains::response &resp);
+ void getJointGains(pr2_mechanism_controllers::GetJointGains::Response &resp);
controller::JointVelocityController* getJointControllerByName(std::string name);
@@ -139,21 +139,21 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
// Services
- bool setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::request &req,
- pr2_mechanism_controllers::SetJointVelCmd::response &resp);
+ bool setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::Request &req,
+ pr2_mechanism_controllers::SetJointVelCmd::Response &resp);
- bool getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::request &req,
- pr2_mechanism_controllers::GetJointVelCmd::response &resp);
+ bool getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::Request &req,
+ pr2_mechanism_controllers::GetJointVelCmd::Response &resp);
- bool setCartesianVelCmd(pr2_mechanism_controllers::SetCartesianVelCmd::request &req,pr2_mechanism_controllers::SetCartesianVelCmd::response &resp);
+ bool setCartesianVelCmd(pr2_mechanism_controllers::SetCartesianVelCmd::Request &req,pr2_mechanism_controllers::SetCartesianVelCmd::Response &resp);
- bool getCartesianVelCmd(pr2_mechanism_controllers::GetCartesianVelCmd::request &req,pr2_mechanism_controllers::GetCartesianVelCmd::response &resp);
+ bool getCartesianVelCmd(pr2_mechanism_controllers::GetCartesianVelCmd::Request &req,pr2_mechanism_controllers::GetCartesianVelCmd::Response &resp);
- bool setJointGains(pr2_mechanism_controllers::SetJointGains::request &req,
- pr2_mechanism_controllers::SetJointGains::response &resp);
+ bool setJointGains(pr2_mechanism_controllers::SetJointGains::Request &req,
+ pr2_mechanism_controllers::SetJointGains::Response &resp);
- bool getJointGains(pr2_mechanism_controllers::GetJointGains::request &req,
- pr2_mechanism_controllers::GetJointGains::response &resp);
+ bool getJointGains(pr2_mechanism_controllers::GetJointGains::Request &req,
+ pr2_mechanism_controllers::GetJointGains::Response &resp);
private:
ArmVelocityController *c_;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -469,17 +469,17 @@
void getOdometry(double &x, double &y, double &w, double &vx, double &vy, double &vw);
// Services
- bool setCommand(pr2_mechanism_controllers::SetBaseCommand::request &req,
- pr2_mechanism_controllers::SetBaseCommand::response &resp);
+ bool setCommand(pr2_mechanism_controllers::SetBaseCommand::Request &req,
+ pr2_mechanism_controllers::SetBaseCommand::Response &resp);
- bool getCommand(pr2_mechanism_controllers::GetBaseCommand::request &req,
- pr2_mechanism_controllers::GetBaseCommand::response &resp);
+ bool getCommand(pr2_mechanism_controllers::GetBaseCommand::Request &req,
+ pr2_mechanism_controllers::GetBaseCommand::Response &resp);
- bool getWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp);
+ bool getWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp);
- bool setWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp);
+ bool setWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp);
/*
* \brief callback function for setting the desired velocity using a topic
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller_pos.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller_pos.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller_pos.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -456,17 +456,17 @@
void getOdometry(double &x, double &y, double &w, double &vx, double &vy, double &vw);
// Services
- bool setCommand(pr2_mechanism_controllers::SetBaseCommand::request &req,
- pr2_mechanism_controllers::SetBaseCommand::response &resp);
+ bool setCommand(pr2_mechanism_controllers::SetBaseCommand::Request &req,
+ pr2_mechanism_controllers::SetBaseCommand::Response &resp);
- bool getCommand(pr2_mechanism_controllers::GetBaseCommand::request &req,
- pr2_mechanism_controllers::GetBaseCommand::response &resp);
+ bool getCommand(pr2_mechanism_controllers::GetBaseCommand::Request &req,
+ pr2_mechanism_controllers::GetBaseCommand::Response &resp);
- bool getWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp);
+ bool getWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp);
- bool setWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp);
+ bool setWheelRadiusMultiplier(pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp);
/*
* \brief callback function for setting the desired velocity using a topic
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_calibration_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -88,8 +88,8 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
- bool calibrateCommand(robot_mechanism_controllers::CalibrateJoint::request &req,
- robot_mechanism_controllers::CalibrateJoint::response &resp);
+ bool calibrateCommand(robot_mechanism_controllers::CalibrateJoint::Request &req,
+ robot_mechanism_controllers::CalibrateJoint::Response &resp);
private:
mechanism::RobotState *robot_;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/grasp_point_node.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/grasp_point_node.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/grasp_point_node.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -98,7 +98,7 @@
tf::Transform calculateIntermediatePoint(tf::Transform grasp_point); //Assumption is that the grasp point is located along the X axis of the grasp point transform
- bool processGraspPointService(pr2_mechanism_controllers::GraspPointSrv::request &req, pr2_mechanism_controllers::GraspPointSrv::response &resp);
+ bool processGraspPointService(pr2_mechanism_controllers::GraspPointSrv::Request &req, pr2_mechanism_controllers::GraspPointSrv::Response &resp);
bool chooseSoln(const std::vector<std::vector<double> > &ik_solns, std::vector<double> &solution);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -185,8 +185,8 @@
* \param req
* \param resp (positions)
*/
- bool getJointCmd(robot_srvs::GetJointCmd::request &req,
- robot_srvs::GetJointCmd::response &resp);
+ bool getJointCmd(robot_srvs::GetJointCmd::Request &req,
+ robot_srvs::GetJointCmd::Response &resp);
/*!
* \brief This points the head at a specified point from a given frame.
*
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -187,8 +187,8 @@
* \param req
* \param resp (positions)
*/
- bool getJointCmd(robot_srvs::GetJointCmd::request &req,
- robot_srvs::GetJointCmd::response &resp);
+ bool getJointCmd(robot_srvs::GetJointCmd::Request &req,
+ robot_srvs::GetJointCmd::Response &resp);
/*!
* \brief This points the head at a specified point from a given frame.
*
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -232,12 +232,12 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
// Services
- bool setCommand(robot_mechanism_controllers::SetCommand::request &req,
- robot_mechanism_controllers::SetCommand::response &resp);
+ bool setCommand(robot_mechanism_controllers::SetCommand::Request &req,
+ robot_mechanism_controllers::SetCommand::Response &resp);
- bool setProfileCall(pr2_mechanism_controllers::SetProfile::request &req,
- pr2_mechanism_controllers::SetProfile::response &resp);
+ bool setProfileCall(pr2_mechanism_controllers::SetProfile::Request &req,
+ pr2_mechanism_controllers::SetProfile::Response &resp);
void setProfile(LaserScannerController::LaserControllerMode profile, double period, double amplitude, int num_elements=0, double offset=0.0);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_qualification.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_qualification.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_qualification.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -153,14 +153,14 @@
bool initXml(mechanism::Robot *robot, TiXmlElement *config);
// Services
- bool setCommand(robot_mechanism_controllers::SetCommand::request &req,
- robot_mechanism_controllers::SetCommand::response &resp);
+ bool setCommand(robot_mechanism_controllers::SetCommand::Request &req,
+ robot_mechanism_controllers::SetCommand::Response &resp);
- bool getCommand(robot_mechanism_controllers::GetCommand::request &req,
- robot_mechanism_controllers::GetCommand::response &resp);
+ bool getCommand(robot_mechanism_controllers::GetCommand::Request &req,
+ robot_mechanism_controllers::GetCommand::Response &resp);
- bool getActual(robot_mechanism_controllers::GetActual::request &req,
- robot_mechanism_controllers::GetActual::response &resp);
+ bool getActual(robot_mechanism_controllers::GetActual::Request &req,
+ robot_mechanism_controllers::GetActual::Response &resp);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_velocity_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_velocity_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/laser_scanner_velocity_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -166,33 +166,33 @@
* \brief Send velocity command
*/
- bool setCommand(robot_mechanism_controllers::SetCommand::request &req,
- robot_mechanism_controllers::SetCommand::response &resp);
+ bool setCommand(robot_mechanism_controllers::SetCommand::Request &req,
+ robot_mechanism_controllers::SetCommand::Response &resp);
/*!
* \brief Send velocity command
*/
- bool getCommand(robot_mechanism_controllers::GetCommand::request &req,
- robot_mechanism_controllers::GetCommand::response &resp);
+ bool getCommand(robot_mechanism_controllers::GetCommand::Request &req,
+ robot_mechanism_controllers::GetCommand::Response &resp);
/*!
* \brief Send velocity command
*/
- bool setPosition(robot_mechanism_controllers::SetPosition::request &req,
- robot_mechanism_controllers::SetPosition::response &resp);
+ bool setPosition(robot_mechanism_controllers::SetPosition::Request &req,
+ robot_mechanism_controllers::SetPosition::Response &resp);
/*!
* \brief Send velocity command
*/
- bool getPosition(robot_mechanism_controllers::GetPosition::request &req,
- robot_mechanism_controllers::GetPosition::response &resp);
+ bool getPosition(robot_mechanism_controllers::GetPosition::Request &req,
+ robot_mechanism_controllers::GetPosition::Response &resp);
/*!
* \brief Send velocity command
*/
- bool setProfile(pr2_mechanism_controllers::SetProfile::request &req,
- pr2_mechanism_controllers::SetProfile::response &resp);
+ bool setProfile(pr2_mechanism_controllers::SetProfile::Request &req,
+ pr2_mechanism_controllers::SetProfile::Response &resp);
/*!
* \brief Send velocity command
*/
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_arm_dynamics_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_arm_dynamics_controller.h 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_arm_dynamics_controller.h 2009-02-02 23:13:06 UTC (rev 10444)
@@ -96,14 +96,14 @@
// * @brief Overloaded method for convenience
// * @param req
// */
-// void setJointCmd(robot_msgs::SetJointPosCmd::request &req);
+// void setJointCmd(robot_msgs::SetJointPosCmd::Request &req);
void getJointCmd(robot_msgs::JointCmd & cmd) const;
/*!
* \brief Get latest position command to the joint: revolute (angle) and prismatic (position).
*/
-// void getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::response &resp);
+// void getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Response &resp);
// void getCurrentConfiguration(std::vector<double> &);
@@ -114,9 +114,9 @@
boost::mutex arm_controller_lock_;
-// void setJointGains(const pr2_mechanism_controllers::SetJointGains::request &req);
+// void setJointGains(const pr2_mechanism_controllers::SetJointGains::Request &req);
-// void getJointGains(pr2_mechanism_controllers::GetJointGains::response &resp);
+// void getJointGains(pr2_mechanism_controllers::GetJointGains::Response &resp);
controller::JointEffortController* getJointEffortControllerByName(std::string name);
@@ -219,8 +219,8 @@
* @param resp The response is empty
* @return
*/
- bool setJointSrv(robot_srvs::SetJointCmd::request &req,
- robot_srvs::SetJointCmd::response &resp);
+ bool setJointSrv(robot_srvs::SetJointCmd::Request &req,
+ robot_srvs::SetJointCmd::Response &resp);
/** @brief service that returns the goal of the controller
* @note if you know the goal has been reached and you do not want to subscribe to the /mechanism_state topic, you can use it as a hack to get the position of the arm
@@ -228,8 +228,8 @@
* @param resp the response, contains a JointPosCmd message with the goal of the controller
* @return
*/
- bool getJointCmd(robot_srvs::GetJointCmd::request &req,
- robot_srvs::GetJointCmd::response &resp);
+ bool getJointCmd(robot_srvs::GetJointCmd::Request &req,
+ robot_srvs::GetJointCmd::Response &resp);
private:
robot_msgs::JointCmd msg_; //The message used by the ROS callback
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -320,8 +320,8 @@
return false;
}
-bool ArmDynamicsControllerNode::setJointSrv(robot_srvs::SetJointCmd::request &req,
- robot_srvs::SetJointCmd::response &resp)
+bool ArmDynamicsControllerNode::setJointSrv(robot_srvs::SetJointCmd::Request &req,
+ robot_srvs::SetJointCmd::Response &resp)
{
std::vector<double> pos;
std::vector<double> vel;
@@ -337,8 +337,8 @@
return true;
}
-bool ArmDynamicsControllerNode::getJointCmd(robot_srvs::GetJointCmd::request &req,
- robot_srvs::GetJointCmd::response &resp)
+bool ArmDynamicsControllerNode::getJointCmd(robot_srvs::GetJointCmd::Request &req,
+ robot_srvs::GetJointCmd::Response &resp)
{
robot_msgs::JointCmd cmd;
c_->getJointCmd(cmd);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -171,7 +171,7 @@
return -1;
}
-//void ArmPositionController::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::response &resp)
+//void ArmPositionController::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Response &resp)
//{
// arm_controller_lock_.lock();
// resp.set_positions_size(goals_.size());
@@ -280,8 +280,8 @@
return false;
}
-bool ArmPositionControllerNode::setJointPosSrv(pr2_mechanism_controllers::SetJointPosCmd::request &req,
- pr2_mechanism_controllers::SetJointPosCmd::response &resp)
+bool ArmPositionControllerNode::setJointPosSrv(pr2_mechanism_controllers::SetJointPosCmd::Request &req,
+ pr2_mechanism_controllers::SetJointPosCmd::Response &resp)
{
std::vector<double> pos;
req.get_positions_vec(pos);
@@ -294,8 +294,8 @@
c_->setJointPosCmd(joint_pos);
}
-//bool ArmPositionControllerNode::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::request &req,
-// pr2_mechanism_controllers::GetJointPosCmd::response &resp)
+//bool ArmPositionControllerNode::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Request &req,
+// pr2_mechanism_controllers::GetJointPosCmd::Response &resp)
//{
// c_->getJointPosCmd(resp);
// return true;
@@ -346,8 +346,8 @@
return true;
}
-bool ArmPositionControllerNode::setJointPosHeadless(pr2_mechanism_controllers::SetJointTarget::request &req,
- pr2_mechanism_controllers::SetJointTarget::response &resp)
+bool ArmPositionControllerNode::setJointPosHeadless(pr2_mechanism_controllers::SetJointTarget::Request &req,
+ pr2_mechanism_controllers::SetJointTarget::Response &resp)
{
if(req.get_positions_size()!=1)
{
@@ -358,8 +358,8 @@
return true;
}
-bool ArmPositionControllerNode::setJointPosTarget(pr2_mechanism_controllers::SetJointTarget::request &req,
- pr2_mechanism_controllers::SetJointTarget::response &resp)
+bool ArmPositionControllerNode::setJointPosTarget(pr2_mechanism_controllers::SetJointTarget::Request &req,
+ pr2_mechanism_controllers::SetJointTarget::Response &resp)
{
bool reached=true;
for(unsigned int i=0;i<req.get_positions_size();++i)
@@ -390,8 +390,8 @@
}
-bool ArmPositionControllerNode::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::request &req,
- pr2_mechanism_controllers::GetJointPosCmd::response &resp)
+bool ArmPositionControllerNode::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Request &req,
+ pr2_mechanism_controllers::GetJointPosCmd::Response &resp)
{
pr2_mechanism_controllers::JointPosCmd cmd;
c_->getJointPosCmd(cmd);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -437,8 +437,8 @@
}
-bool ArmTrajectoryControllerNode::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::request &req,
- pr2_mechanism_controllers::GetJointPosCmd::response &resp)
+bool ArmTrajectoryControllerNode::getJointPosCmd(pr2_mechanism_controllers::GetJointPosCmd::Request &req,
+ pr2_mechanism_controllers::GetJointPosCmd::Response &resp)
{
pr2_mechanism_controllers::JointPosCmd cmd;
c_->getJointPosCmd(cmd);
@@ -447,8 +447,8 @@
}
-bool ArmTrajectoryControllerNode::setJointTrajSrv(pr2_mechanism_controllers::TrajectoryStart::request &req,
- pr2_mechanism_controllers::TrajectoryStart::response &resp)
+bool ArmTrajectoryControllerNode::setJointTrajSrv(pr2_mechanism_controllers::TrajectoryStart::Request &req,
+ pr2_mechanism_controllers::TrajectoryStart::Response &resp)
{
addTrajectoryToQueue(req.traj, request_trajectory_id_);
resp.trajectoryid = request_trajectory_id_;
@@ -473,8 +473,8 @@
return true;
}
-bool ArmTrajectoryControllerNode::queryJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::request &req,
- pr2_mechanism_controllers::TrajectoryQuery::response &resp)
+bool ArmTrajectoryControllerNode::queryJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::Request &req,
+ pr2_mechanism_controllers::TrajectoryQuery::Response &resp)
{
resp.set_jointnames_size(c_->dimension_);
resp.set_jointpositions_size(c_->dimension_);
@@ -519,8 +519,8 @@
return true;
}
-bool ArmTrajectoryControllerNode::cancelJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::request &req,
- pr2_mechanism_controllers::TrajectoryQuery::response &resp)
+bool ArmTrajectoryControllerNode::cancelJointTrajSrv(pr2_mechanism_controllers::TrajectoryQuery::Request &req,
+ pr2_mechanism_controllers::TrajectoryQuery::Response &resp)
{
int status = ArmTrajectoryControllerNode::NUM_STATUS;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_velocity_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_velocity_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_velocity_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -76,7 +76,7 @@
return true;
}
-void ArmVelocityController::setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::request &req)
+void ArmVelocityController::setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::Request &req)
{
cout<<"SET COMMANDS"<<endl;
arm_controller_lock_.lock();
@@ -87,7 +87,7 @@
arm_controller_lock_.unlock();
}
-void ArmVelocityController::getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::response &resp)
+void ArmVelocityController::getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::Response &resp)
{
arm_controller_lock_.lock();
resp.set_velocity_size(goals_.size());
@@ -96,7 +96,7 @@
arm_controller_lock_.unlock();
}
-void ArmVelocityController::setJointGains(const pr2_mechanism_controllers::SetJointGains::request &req)
+void ArmVelocityController::setJointGains(const pr2_mechanism_controllers::SetJointGains::Request &req)
{
cout<<"SET GAINS"<<endl;
arm_controller_lock_.lock();
@@ -106,7 +106,7 @@
arm_controller_lock_.unlock();
}
-void ArmVelocityController::getJointGains(pr2_mechanism_controllers::GetJointGains::response &req)
+void ArmVelocityController::getJointGains(pr2_mechanism_controllers::GetJointGains::Response &req)
{
cout<<"GET GAINS"<<endl;
arm_controller_lock_.lock();
@@ -237,37 +237,37 @@
-bool ArmVelocityControllerNode::setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::request &req,
- pr2_mechanism_controllers::SetJointVelCmd::response &resp)
+bool ArmVelocityControllerNode::setJointVelCmd(pr2_mechanism_controllers::SetJointVelCmd::Request &req,
+ pr2_mechanism_controllers::SetJointVelCmd::Response &resp)
{
c_->setJointVelCmd(req);
return true;
}
-bool ArmVelocityControllerNode::getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::request &req,
- pr2_mechanism_controllers::GetJointVelCmd::response &resp)
+bool ArmVelocityControllerNode::getJointVelCmd(pr2_mechanism_controllers::GetJointVelCmd::Request &req,
+ pr2_mechanism_controllers::GetJointVelCmd::Response &resp)
{
c_->getJointVelCmd(resp);
return true;
}
-bool ArmVelocityControllerNode::setJointGains(pr2_mechanism_controllers::SetJointGains::request &req,
- pr2_mechanism_controllers::SetJointGains::response &resp)
+bool ArmVelocityControllerNode::setJointGains(pr2_mechanism_controllers::SetJointGains::Request &req,
+ pr2_mechanism_controllers::SetJointGains::Response &resp)
{
c_->setJointGains(req);
return true;
}
-bool ArmVelocityControllerNode::getJointGains(pr2_mechanism_controllers::GetJointGains::request &req,
- pr2_mechanism_controllers::GetJointGains::response &resp)
+bool ArmVelocityControllerNode::getJointGains(pr2_mechanism_controllers::GetJointGains::Request &req,
+ pr2_mechanism_controllers::GetJointGains::Response &resp)
{
resp.name = req.name;
c_->getJointGains(resp);
return true;
}
-bool ArmVelocityControllerNode::setCartesianVelCmd(pr2_mechanism_controllers::SetCartesianVelCmd::request &req,
- pr2_mechanism_controllers::SetCartesianVelCmd::response &resp)
+bool ArmVelocityControllerNode::setCartesianVelCmd(pr2_mechanism_controllers::SetCartesianVelCmd::Request &req,
+ pr2_mechanism_controllers::SetCartesianVelCmd::Response &resp)
{
const int size = arm_chain_->num_joints_;
@@ -287,7 +287,7 @@
std::cout << "TARGET VEL\n" << target_joint_vel << std::endl;
// Sends commands to the controllers
- pr2_mechanism_controllers::SetJointVelCmd::request commands;
+ pr2_mechanism_controllers::SetJointVelCmd::Request commands;
commands.set_velocity_size(size);
for(int i=0;i<size;++i)
commands.velocity[i] = target_joint_vel(i);
@@ -297,7 +297,7 @@
}
-bool ArmVelocityControllerNode::getCartesianVelCmd(pr2_mechanism_controllers::GetCartesianVelCmd::request &req, pr2_mechanism_controllers::GetCartesianVelCmd::response &resp)
+bool ArmVelocityControllerNode::getCartesianVelCmd(pr2_mechanism_controllers::GetCartesianVelCmd::Request &req, pr2_mechanism_controllers::GetCartesianVelCmd::Response &resp)
{
return true;
}
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -992,8 +992,8 @@
}
bool BaseControllerNode::setCommand(
- pr2_mechanism_controllers::SetBaseCommand::request &req,
- pr2_mechanism_controllers::SetBaseCommand::response &resp)
+ pr2_mechanism_controllers::SetBaseCommand::Request &req,
+ pr2_mechanism_controllers::SetBaseCommand::Response &resp)
{
libTF::Vector command;
command.x = req.vx;
@@ -1019,8 +1019,8 @@
bool BaseControllerNode::getCommand(
- pr2_mechanism_controllers::GetBaseCommand::request &req,
- pr2_mechanism_controllers::GetBaseCommand::response &resp)
+ pr2_mechanism_controllers::GetBaseCommand::Request &req,
+ pr2_mechanism_controllers::GetBaseCommand::Response &resp)
{
libTF::Vector command;
command = c_->getCommand();
@@ -1032,8 +1032,8 @@
}
bool BaseControllerNode::getWheelRadiusMultiplier(
- pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp)
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp)
{
double param_multiplier;
node->param<double>("base_controller/wheel_radius_multiplier",param_multiplier,1.0);
@@ -1043,8 +1043,8 @@
}
bool BaseControllerNode::setWheelRadiusMultiplier(
- pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp)
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp)
{
double calibration_multiplier = req.radius_multiplier;
ROS_INFO("Received radius multiplier %f ",calibration_multiplier);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -1055,8 +1055,8 @@
}
bool BaseControllerPosNode::setCommand(
- pr2_mechanism_controllers::SetBaseCommand::request &req,
- pr2_mechanism_controllers::SetBaseCommand::response &resp)
+ pr2_mechanism_controllers::SetBaseCommand::Request &req,
+ pr2_mechanism_controllers::SetBaseCommand::Response &resp)
{
libTF::Vector command;
command.x = req.vx;
@@ -1082,8 +1082,8 @@
bool BaseControllerPosNode::getCommand(
- pr2_mechanism_controllers::GetBaseCommand::request &req,
- pr2_mechanism_controllers::GetBaseCommand::response &resp)
+ pr2_mechanism_controllers::GetBaseCommand::Request &req,
+ pr2_mechanism_controllers::GetBaseCommand::Response &resp)
{
libTF::Vector command;
command = c_->getCommand();
@@ -1095,8 +1095,8 @@
}
bool BaseControllerPosNode::getWheelRadiusMultiplier(
- pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp)
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp)
{
double param_multiplier;
node->param<double>("base_controller/wheel_radius_multiplier",param_multiplier,1.0);
@@ -1106,8 +1106,8 @@
}
bool BaseControllerPosNode::setWheelRadiusMultiplier(
- pr2_mechanism_controllers::WheelRadiusMultiplier::request &req,
- pr2_mechanism_controllers::WheelRadiusMultiplier::response &resp)
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Request &req,
+ pr2_mechanism_controllers::WheelRadiusMultiplier::Response &resp)
{
double calibration_multiplier = req.radius_multiplier;
ROS_INFO("Received radius multiplier %f ",calibration_multiplier);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -185,7 +185,7 @@
}
- bool CasterCalibrationControllerNode::calibrateCommand(robot_mechanism_controllers::CalibrateJoint::request &req, robot_mechanism_controllers::CalibrateJoint::response &resp)
+ bool CasterCalibrationControllerNode::calibrateCommand(robot_mechanism_controllers::CalibrateJoint::Request &req, robot_mechanism_controllers::CalibrateJoint::Response &resp)
{
c_.beginCalibration();
ros::Duration d=ros::Duration(0,1000000);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -240,7 +240,7 @@
return result;
}
-bool GraspPointNode::processGraspPointService(pr2_mechanism_controllers::GraspPointSrv::request &req, pr2_mechanism_controllers::GraspPointSrv::response &resp)
+bool GraspPointNode::processGraspPointService(pr2_mechanism_controllers::GraspPointSrv::Request &req, pr2_mechanism_controllers::GraspPointSrv::Response &resp)
{
std_msgs::PoseStamped grasp_point_transformed;
std_msgs::PoseStamped grasp_point_requested = req.transform;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -204,8 +204,8 @@
c_->setJointCmd(joint_cmds_.positions,joint_cmds_.names);
}
-bool HeadPanTiltControllerNode::getJointCmd(robot_srvs::GetJointCmd::request &req,
- robot_srvs::GetJointCmd::response &resp)
+bool HeadPanTiltControllerNode::getJointCmd(robot_srvs::GetJointCmd::Request &req,
+ robot_srvs::GetJointCmd::Response &resp)
{
robot_msgs::JointCmd cmd;
c_->getJointCmd(cmd);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -228,8 +228,8 @@
c_->setJointCmd(joint_cmds_.positions,joint_cmds_.names);
}
-bool HeadServoingControllerNode::getJointCmd(robot_srvs::GetJointCmd::request &req,
- robot_srvs::GetJointCmd::response &resp)
+bool HeadServoingControllerNode::getJointCmd(robot_srvs::GetJointCmd::Request &req,
+ robot_srvs::GetJointCmd::Response &resp)
{
robot_msgs::JointCmd cmd;
c_->getJointCmd(cmd);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_controller.cpp 2009-02-02 23:10:51 UTC (rev 10443)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/laser_scanner_controller.cpp 2009-02-02 23:13:06 UTC (rev 10444)
@@ -519,8 +519,8 @@
bool LaserScannerControllerNode::setCommand(
- robot_mechanism_controllers::SetCommand::request &req,
- robot_mechanism_controllers::SetCommand::response &resp)
+ robot_mechanism_controllers::SetCommand::Request &r...
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