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Nov 18, 2025
Merged

Refactor: Renamed joint_reference_interfaces_ to reference_interface_… #2008

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10 changes: 5 additions & 5 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,11 +82,11 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
{
const std::string ref_itf_prefix_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
EXPECT_EQ(
reference_interfaces[i]->get_name(),
ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
Expand Down Expand Up @@ -186,7 +186,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
1.4179821977774734, COMMON_THRESHOLD);

EXPECT_FALSE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down Expand Up @@ -226,7 +226,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
1.4179821977774734, COMMON_THRESHOLD);

EXPECT_TRUE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down
2 changes: 1 addition & 1 deletion ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -303,7 +303,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test

std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};
std::array<std::string, 2> joint_reference_interfaces_ = {{"linear", "angular"}};
std::array<std::string, 2> reference_interface_names_ = {{"linear", "angular"}};
std::string steering_interface_name_ = "position";
// defined in setup
std::string traction_interface_name_ = "";
Expand Down
6 changes: 3 additions & 3 deletions ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,11 +84,11 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
{
const std::string ref_itf_prefix_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
EXPECT_EQ(
reference_interfaces[i]->get_name(),
ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
Expand Down
10 changes: 5 additions & 5 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,11 +68,11 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
{
const std::string ref_itf_prefix_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
EXPECT_EQ(
reference_interfaces[i]->get_name(),
ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
Expand Down Expand Up @@ -165,7 +165,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic)
COMMON_THRESHOLD);

EXPECT_FALSE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down Expand Up @@ -198,7 +198,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic_chained)
COMMON_THRESHOLD);

EXPECT_TRUE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down
2 changes: 1 addition & 1 deletion bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -272,7 +272,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test

std::array<double, 2> joint_state_values_ = {{3.3, 0.5}};
std::array<double, 2> joint_command_values_ = {{1.1, 2.2}};
std::array<std::string, 2> joint_reference_interfaces_ = {{"linear", "angular"}};
std::array<std::string, 2> reference_interface_names_ = {{"linear", "angular"}};
std::string steering_interface_name_ = "position";

// defined in setup
Expand Down
6 changes: 3 additions & 3 deletions bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,11 +71,11 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
{
const std::string ref_itf_prefix_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
EXPECT_EQ(
reference_interfaces[i]->get_name(),
ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
Expand Down
6 changes: 3 additions & 3 deletions steering_controllers_library/test/test_steering_controllers_library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,11 +66,11 @@ TEST_F(SteeringControllersLibraryTest, check_exported_interfaces)

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
{
const std::string ref_itf_prefix_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(
reference_interfaces[i]->get_name(),
Expand Down
2 changes: 1 addition & 1 deletion steering_controllers_library/test/test_steering_controllers_library.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};

std::array<std::string, 2> joint_reference_interfaces_ = {{"linear", "angular"}};
std::array<std::string, 2> reference_interface_names_ = {{"linear", "angular"}};
std::string steering_interface_name_ = "position";
// defined in setup
std::string traction_interface_name_ = "";
Expand Down
10 changes: 5 additions & 5 deletions tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,11 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
{
const std::string ref_itf_prefix_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(
reference_interfaces[i]->get_name(),
Expand Down Expand Up @@ -175,7 +175,7 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic)
COMMON_THRESHOLD);

EXPECT_FALSE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down Expand Up @@ -212,7 +212,7 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic_chained)
COMMON_THRESHOLD);

EXPECT_TRUE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down
2 changes: 1 addition & 1 deletion tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,7 +288,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test

std::array<double, 3> joint_state_values_{{0.5, 0.5, 0.0}};
std::array<double, 3> joint_command_values_{{1.1, 3.3, 2.2}};
std::array<std::string, 2> joint_reference_interfaces_{{"linear", "angular"}};
std::array<std::string, 2> reference_interface_names_{{"linear", "angular"}};
std::string steering_interface_name_ = "position";
// defined in setup
std::string traction_interface_name_ = "";
Expand Down
6 changes: 3 additions & 3 deletions tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,11 +77,11 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
{
const std::string ref_itf_prefix_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(
reference_interfaces[i]->get_name(),
Expand Down