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Refactor: Renamed joint_reference_interfaces_ to reference_interface_… (backport #2008) #2010

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24 changes: 22 additions & 2 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,14 +86,24 @@ 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)
{
<<<<<<< HEAD
const std::string ref_itf_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
=======
const std::string ref_itf_prefix_name =
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);
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
}
}

Expand Down Expand Up @@ -187,8 +197,13 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
controller_->command_interfaces_[CMD_STEER_LEFT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);

<<<<<<< HEAD
EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
=======
EXPECT_FALSE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down Expand Up @@ -227,8 +242,13 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
controller_->command_interfaces_[STATE_STEER_LEFT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);

<<<<<<< HEAD
EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
=======
EXPECT_TRUE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down
6 changes: 6 additions & 0 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -302,9 +302,15 @@ class AckermannSteeringControllerFixture : public ::testing::Test
double front_wheels_radius_ = 0.45;
double rear_wheels_radius_ = 0.45;

<<<<<<< HEAD
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/velocity", "angular/velocity"};
=======
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> reference_interface_names_ = {{"linear", "angular"}};
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
std::string steering_interface_name_ = "position";
// defined in setup
std::string traction_interface_name_ = "";
Expand Down
14 changes: 12 additions & 2 deletions ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -88,14 +88,24 @@ 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)
{
<<<<<<< HEAD
const std::string ref_itf_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
=======
const std::string ref_itf_prefix_name =
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);
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
}
}

Expand Down
24 changes: 22 additions & 2 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -70,14 +70,24 @@ 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)
{
<<<<<<< HEAD
const std::string ref_itf_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
=======
const std::string ref_itf_prefix_name =
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);
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
}
}

Expand Down Expand Up @@ -163,8 +173,13 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic)
controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);

<<<<<<< HEAD
EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
=======
EXPECT_FALSE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down Expand Up @@ -195,8 +210,13 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic_chained)
controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);

<<<<<<< HEAD
EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
=======
EXPECT_TRUE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down
6 changes: 6 additions & 0 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -267,9 +267,15 @@ class BicycleSteeringControllerFixture : public ::testing::Test
double front_wheels_radius_ = 0.45;
double rear_wheels_radius_ = 0.45;

<<<<<<< HEAD
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/velocity", "angular/velocity"};
=======
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> reference_interface_names_ = {{"linear", "angular"}};
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
std::string steering_interface_name_ = "position";

// defined in setup
Expand Down
14 changes: 12 additions & 2 deletions bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -74,14 +74,24 @@ 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)
{
<<<<<<< HEAD
const std::string ref_itf_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
=======
const std::string ref_itf_prefix_name =
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);
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
}
}

Expand Down
14 changes: 12 additions & 2 deletions steering_controllers_library/test/test_steering_controllers_library.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,14 +68,24 @@ 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)
{
<<<<<<< HEAD
const std::string ref_itf_name =
std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
=======
const std::string ref_itf_prefix_name =
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(),
ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
}
}

Expand Down
4 changes: 4 additions & 0 deletions steering_controllers_library/test/test_steering_controllers_library.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -323,10 +323,14 @@ class SteeringControllersLibraryFixture : public ::testing::Test
double front_wheels_radius_ = 0.45;
double rear_wheels_radius_ = 0.45;

<<<<<<< HEAD
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/velocity", "angular/velocity"};
=======
std::array<std::string, 2> reference_interface_names_ = {{"linear", "angular"}};
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
std::string steering_interface_name_ = "position";
// defined in setup
std::string traction_interface_name_ = "";
Expand Down
24 changes: 24 additions & 0 deletions tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,7 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfs
<<<<<<< HEAD
auto ref_if_conf = controller_->export_reference_interfaces();
ASSERT_EQ(ref_if_conf.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
Expand All @@ -86,6 +87,19 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);
EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);
=======
auto reference_interfaces = controller_->export_reference_interfaces();
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()) + "/" + reference_interface_names_[i];
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(
reference_interfaces[i]->get_name(),
ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
}
}

Expand Down Expand Up @@ -175,8 +189,13 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic)
controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);

<<<<<<< HEAD
EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
=======
EXPECT_FALSE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down Expand Up @@ -212,8 +231,13 @@ TEST_F(TricycleSteeringControllerTest, test_update_logic_chained)
controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);

<<<<<<< HEAD
EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
=======
EXPECT_TRUE(std::isnan(controller_->input_ref_.get().twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
Expand Down
6 changes: 6 additions & 0 deletions tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -282,12 +282,18 @@ class TricycleSteeringControllerFixture : public ::testing::Test
double wheelbase_ = 3.24644;
double wheel_track_ = 1.212121;

<<<<<<< HEAD
double front_wheels_radius_ = 0.45;
double rear_wheels_radius_ = 0.45;

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/velocity", "angular/velocity"};
=======
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> reference_interface_names_{{"linear", "angular"}};
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
std::string steering_interface_name_ = "position";
// defined in setup
std::string traction_interface_name_ = "";
Expand Down
14 changes: 14 additions & 0 deletions tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfs
<<<<<<< HEAD
auto ref_if_conf = controller_->export_reference_interfaces();
ASSERT_EQ(ref_if_conf.size(), joint_reference_interfaces_.size());
for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
Expand All @@ -89,6 +90,19 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);
EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);
=======
auto reference_interfaces = controller_->export_reference_interfaces();
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()) + "/" + reference_interface_names_[i];
EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), ref_itf_prefix_name);
EXPECT_EQ(
reference_interfaces[i]->get_name(),
ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
EXPECT_EQ(reference_interfaces[i]->get_interface_name(), hardware_interface::HW_IF_VELOCITY);
>>>>>>> 6ddb0b4 (Rename joint_reference_interfaces to reference_interface_names (#2008))
}
}

Expand Down
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