Minor formatting/style changes

CHANGELOG.md

@@ -6,8 +6,8 @@
   * Added epsilon to grasp action
   * Added `m_ee`, `F_x_Cee`, `I_ee`, `m_total`, `F_x_Ctotal` and `I_total`
     to the robot state
-  * Updated and improved examples.
-  * Fix includes for Eigen3 in `franka_example_controllers`
+  * Updated and improved examples
+  * Fixed includes for Eigen3 in `franka_example_controllers`
   * Fixed gripper state publishing in `franka_gripper_node`
 
 ## 0.1.2 - 2017-10-10

franka_example_controllers/include/franka_example_controllers/force_example_controller.h

@@ -49,7 +49,7 @@ class ForceExampleController : public controller_interface::MultiInterfaceContro
   double filter_gain_{0.001};
   Eigen::Matrix<double, 7, 1> tau_ext_initial_;
   Eigen::Matrix<double, 7, 1> tau_error_;
-  const double delta_tau_max_{1.0};
+  static constexpr double kDeltaTauMax{1.0};
 
   // Dynamic reconfigure
   std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::desired_mass_paramConfig>>

franka_example_controllers/include/franka_example_controllers/joint_impedance_example_controller.h

@@ -40,7 +40,7 @@ class JointImpedanceExampleController : public controller_interface::MultiInterf
   std::unique_ptr<franka_hw::FrankaModelHandle> model_handle_;
   std::vector<hardware_interface::JointHandle> joint_handles_;
 
-  const double delta_tau_max_{1.0};
+  static constexpr double kDeltaTauMax{1.0};
   double radius_{0.1};
   double acceleration_time_{2.0};
   double vel_max_{0.05};
@@ -54,8 +54,8 @@ class JointImpedanceExampleController : public controller_interface::MultiInterf
   std::array<double, 16> initial_pose_;
 
   franka_hw::TriggerRate rate_trigger_{1.0};
+  std::array<double, 7> last_tau_d_{};
   realtime_tools::RealtimePublisher<JointTorqueComparison> torques_publisher_;
-  std::array<double, 7> last_tau_d_ = {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
 };
 
 }  // namespace franka_example_controllers

franka_example_controllers/src/cartesian_velocity_example_controller.cpp

@@ -54,8 +54,7 @@ bool CartesianVelocityExampleController::init(hardware_interface::RobotHW* robot
       if (std::abs(state_handle.getRobotState().q_d[i] - q_start[i]) > 0.1) {
         ROS_ERROR_STREAM(
             "CartesianVelocityExampleController: Robot is not in the expected starting position "
-            "for "
-            "running this example. Run `roslaunch panda_moveit_config move_to_start.launch "
+            "for running this example. Run `roslaunch panda_moveit_config move_to_start.launch "
             "robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first.");
         return false;
       }

franka_example_controllers/src/force_example_controller.cpp

@@ -146,7 +146,7 @@ Eigen::Matrix<double, 7, 1> ForceExampleController::saturateTorqueRate(
     // TODO(sga): After gravity is removed from tau_J_d, do not subtract it any more.
     double difference = tau_d_calculated[i] - (tau_J_d[i] - gravity[i]);
     tau_d_saturated[i] =
-        (tau_J_d[i] - gravity[i]) + std::max(std::min(difference, delta_tau_max_), -delta_tau_max_);
+        (tau_J_d[i] - gravity[i]) + std::max(std::min(difference, kDeltaTauMax), -kDeltaTauMax);
   }
   return tau_d_saturated;
 }

franka_example_controllers/src/joint_impedance_example_controller.cpp

@@ -15,8 +15,6 @@ namespace franka_example_controllers {
 bool JointImpedanceExampleController::init(hardware_interface::RobotHW* robot_hw,
                                            ros::NodeHandle& node_handle) {
   std::string arm_id;
-  std::vector<std::string> joint_names;
-
   if (!node_handle.getParam("arm_id", arm_id)) {
     ROS_ERROR("JointImpedanceExampleController: Could not read parameter arm_id");
     return false;
@@ -40,6 +38,7 @@ bool JointImpedanceExampleController::init(hardware_interface::RobotHW* robot_hw
         << acceleration_time_);
   }
 
+  std::vector<std::string> joint_names;
   if (!node_handle.getParam("joint_names", joint_names) || joint_names.size() != 7) {
     ROS_ERROR(
         "JointImpedanceExampleController: Invalid or no joint_names parameters provided, aborting "
@@ -212,7 +211,7 @@ std::array<double, 7> JointImpedanceExampleController::saturateTorqueRate(
     // TODO(sga): After gravity is removed from tau_J_d, do not subtract it any more.
     double difference = tau_d_calculated[i] - (tau_J_d[i] - gravity[i]);
     tau_d_saturated[i] =
-        (tau_J_d[i] - gravity[i]) + std::max(std::min(difference, delta_tau_max_), -delta_tau_max_);
+        (tau_J_d[i] - gravity[i]) + std::max(std::min(difference, kDeltaTauMax), -kDeltaTauMax);
   }
   return tau_d_saturated;
 }