From a6893607ccf256d2304fce85477ef76a034eb16b Mon Sep 17 00:00:00 2001 From: Surya! Date: Wed, 19 Nov 2025 00:53:17 +0530 Subject: [PATCH] Rename joint_reference_interfaces to reference_interface_names (#2008) (cherry picked from commit 6ddb0b40acbdbf19b4427294469860c94ce96781) --- .../test/test_ackermann_steering_controller.cpp | 10 +++++----- .../test/test_ackermann_steering_controller.hpp | 2 +- .../test_ackermann_steering_controller_preceding.cpp | 6 +++--- .../test/test_bicycle_steering_controller.cpp | 10 +++++----- .../test/test_bicycle_steering_controller.hpp | 2 +- .../test_bicycle_steering_controller_preceding.cpp | 6 +++--- .../test/test_steering_controllers_library.cpp | 6 +++--- .../test/test_steering_controllers_library.hpp | 2 +- .../test/test_tricycle_steering_controller.cpp | 10 +++++----- .../test/test_tricycle_steering_controller.hpp | 2 +- .../test_tricycle_steering_controller_preceding.cpp | 6 +++--- 11 files changed, 31 insertions(+), 31 deletions(-) diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp index c151af1ecc..5eecd8d5eb 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp @@ -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); @@ -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)); @@ -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)); diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp index 63a8c22618..535b7f3681 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp @@ -299,7 +299,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test std::array joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}}; std::array joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}}; - std::array joint_reference_interfaces_ = {{"linear", "angular"}}; + std::array reference_interface_names_ = {{"linear", "angular"}}; std::string steering_interface_name_ = "position"; // defined in setup std::string traction_interface_name_ = ""; diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp index 1c1e478ce7..1edd550272 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp @@ -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); diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp index 9708ac6d7b..ed9acd6549 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp @@ -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); @@ -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)); @@ -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)); diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp index 9b329de17b..162aebb5a8 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp @@ -268,7 +268,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test std::array joint_state_values_ = {{3.3, 0.5}}; std::array joint_command_values_ = {{1.1, 2.2}}; - std::array joint_reference_interfaces_ = {{"linear", "angular"}}; + std::array reference_interface_names_ = {{"linear", "angular"}}; std::string steering_interface_name_ = "position"; // defined in setup diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp index 770f0f4c96..bb5817e277 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceding.cpp @@ -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); diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 79740f3693..383e070634 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -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(), diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index 5aac580b33..29e6c72c06 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -316,7 +316,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test std::array joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}}; std::array joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}}; - std::array joint_reference_interfaces_ = {{"linear", "angular"}}; + std::array reference_interface_names_ = {{"linear", "angular"}}; std::string steering_interface_name_ = "position"; // defined in setup std::string traction_interface_name_ = ""; diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp index 8096fd980a..9437c81d1c 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp @@ -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(), @@ -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)); @@ -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)); diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp index 21cb1f6570..97a2b20cc6 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp @@ -285,7 +285,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test std::array joint_state_values_{{0.5, 0.5, 0.0}}; std::array joint_command_values_{{1.1, 3.3, 2.2}}; - std::array joint_reference_interfaces_{{"linear", "angular"}}; + std::array reference_interface_names_{{"linear", "angular"}}; std::string steering_interface_name_ = "position"; // defined in setup std::string traction_interface_name_ = ""; diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp index f557f933ad..a9c0a51d0d 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceding.cpp @@ -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(),