replaced types among interfaces

lbr-stack · Oct 22, 2024 · ea11f1e · ea11f1e
1 parent 079232b
commit ea11f1e
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Showing 4 changed files with 20 additions and 33 deletions.
diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/base_command.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/base_command.hpp
@@ -10,28 +10,18 @@
 #include "rclcpp/logging.hpp"
 
 #include "friClientVersion.h"
-#include "friLBRClient.h"
 
 #include "lbr_fri_idl/msg/lbr_command.hpp"
 #include "lbr_fri_ros2/command_guard.hpp"
 #include "lbr_fri_ros2/filters.hpp"
 #include "lbr_fri_ros2/formatting.hpp"
+#include "lbr_fri_ros2/types.hpp"
 
 namespace lbr_fri_ros2 {
 class BaseCommandInterface {
 protected:
   virtual std::string LOGGER_NAME() const = 0;
 
-  // ROS IDL types
-  using idl_command_t = lbr_fri_idl::msg::LBRCommand;
-  using const_idl_command_t_ref = const idl_command_t &;
-  using idl_state_t = lbr_fri_idl::msg::LBRState;
-  using const_idl_state_t_ref = const idl_state_t &;
-
-  // FRI types
-  using fri_command_t = KUKA::FRI::LBRCommand;
-  using fri_command_t_ref = fri_command_t &;
-
 public:
   BaseCommandInterface() = delete;
   BaseCommandInterface(const PIDParameters &pid_parameters,

diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/state.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/state.hpp
@@ -7,10 +7,10 @@
 #include "rclcpp/logging.hpp"
 
 #include "friClientVersion.h"
-#include "friLBRClient.h"
 
 #include "lbr_fri_idl/msg/lbr_state.hpp"
 #include "lbr_fri_ros2/filters.hpp"
+#include "lbr_fri_ros2/types.hpp"
 
 namespace lbr_fri_ros2 {
 struct StateInterfaceParameters {
@@ -22,25 +22,14 @@ class StateInterface {
 protected:
   static constexpr char LOGGER_NAME[] = "lbr_fri_ros2::StateInterface";
 
-  // ROS IDL types
-  using idl_state_t = lbr_fri_idl::msg::LBRState;
-  using const_idl_state_t_ref = const idl_state_t &;
-  using idl_joint_pos_t = idl_state_t::_measured_joint_position_type;
-  using const_idl_joint_pos_t_ref = const idl_joint_pos_t &;
-
-  // FRI types
-  using fri_state_t = KUKA::FRI::LBRState;
-  using const_fri_state_t_ref = const fri_state_t &;
-  using fri_session_state_t = KUKA::FRI::ESessionState;
-
 public:
   StateInterface() = delete;
   StateInterface(const StateInterfaceParameters &state_interface_parameters = {10.0, 10.0});
 
   inline const_idl_state_t_ref get_state() const { return state_; };
 
   void set_state(const_fri_state_t_ref state);
-  void set_state_open_loop(const_fri_state_t_ref state, const_idl_joint_pos_t_ref joint_position);
+  void set_state_open_loop(const_fri_state_t_ref state, const_jnt_array_t_ref joint_position);
 
   inline void uninitialize() { state_initialized_ = false; }
   inline bool is_initialized() const { return state_initialized_; };

diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/types.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/types.hpp
@@ -5,7 +5,7 @@
 #include <cstdint>
 #include <string>
 
-#include "friLBRState.h"
+#include "friLBRClient.h"
 
 #include "lbr_fri_idl/msg/lbr_command.hpp"
 #include "lbr_fri_idl/msg/lbr_state.hpp"
@@ -21,15 +21,23 @@ using jnt_name_array_t = std::array<std::string, KUKA::FRI::LBRState::NUMBER_OF_
 using jnt_name_array_t_ref = jnt_name_array_t &;
 using const_jnt_name_array_t_ref = const jnt_name_array_t &;
 
-// cartesian dof
+// Cartesian dof
 constexpr std::uint8_t CARTESIAN_DOF = 6;
 
-// cartesian positions, velocities, accelerations, torques etc.
+// Cartesian positions, velocities, accelerations, torques etc.
 using cart_array_t = std::array<double, CARTESIAN_DOF>;
 using cart_array_t_ref = cart_array_t &;
 using const_cart_array_t_ref = const cart_array_t &;
 
-// idl types
+// FRI types
+using fri_command_t = KUKA::FRI::LBRCommand;
+using fri_command_t_ref = fri_command_t &;
+using const_fri_command_t_ref = const fri_command_t &;
+using fri_state_t = KUKA::FRI::LBRState;
+using fri_state_t_ref = fri_state_t &;
+using const_fri_state_t_ref = const fri_state_t &;
+
+// ROS IDL types
 using idl_command_t = lbr_fri_idl::msg::LBRCommand;
 using idl_command_t_ref = idl_command_t &;
 using const_idl_command_t_ref = const idl_command_t &;

diff --git a/lbr_fri_ros2/src/interfaces/state.cpp b/lbr_fri_ros2/src/interfaces/state.cpp
@@ -16,8 +16,8 @@ void StateInterface::set_state(const_fri_state_t_ref state) {
   state_.control_mode = state.getControlMode();
   state_.drive_state = state.getDriveState();
   external_torque_filter_.compute(state.getExternalTorque(), state_.external_torque);
-  if (state.getSessionState() == fri_session_state_t::COMMANDING_WAIT ||
-      state.getSessionState() == fri_session_state_t::COMMANDING_ACTIVE) {
+  if (state.getSessionState() == KUKA::FRI::ESessionState::COMMANDING_WAIT ||
+      state.getSessionState() == KUKA::FRI::ESessionState::COMMANDING_ACTIVE) {
     std::memcpy(state_.ipo_joint_position.data(), state.getIpoJointPosition(),
                 sizeof(double) * fri_state_t::NUMBER_OF_JOINTS);
   }
@@ -41,7 +41,7 @@ void StateInterface::set_state(const_fri_state_t_ref state) {
 };
 
 void StateInterface::set_state_open_loop(const_fri_state_t_ref state,
-                                         const_idl_joint_pos_t_ref joint_position) {
+                                         const_jnt_array_t_ref joint_position) {
   state_.client_command_mode = state.getClientCommandMode();
 #if FRI_CLIENT_VERSION_MAJOR == 1
   std::memcpy(state_.commanded_joint_position.data(), state.getCommandedJointPosition(),
@@ -53,8 +53,8 @@ void StateInterface::set_state_open_loop(const_fri_state_t_ref state,
   state_.control_mode = state.getControlMode();
   state_.drive_state = state.getDriveState();
   external_torque_filter_.compute(state.getExternalTorque(), state_.external_torque);
-  if (state.getSessionState() == fri_session_state_t::COMMANDING_WAIT ||
-      state.getSessionState() == fri_session_state_t::COMMANDING_ACTIVE) {
+  if (state.getSessionState() == KUKA::FRI::ESessionState::COMMANDING_WAIT ||
+      state.getSessionState() == KUKA::FRI::ESessionState::COMMANDING_ACTIVE) {
     std::memcpy(state_.ipo_joint_position.data(), state.getIpoJointPosition(),
                 sizeof(double) * fri_state_t::NUMBER_OF_JOINTS);
   }