From 65ee6f464a250c3e2b04ace4f31175e741bf26e1 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Fri, 19 Jan 2018 10:18:48 +0100
Subject: [PATCH] Fix formatting, remove use of boost pointer
---
.../cartesian_impedance_example_controller.h | 5 ++---
.../franka_example_controllers/force_example_controller.h | 6 ++----
2 files changed, 4 insertions(+), 7 deletions(-)
diff --git a/franka_example_controllers/include/franka_example_controllers/cartesian_impedance_example_controller.h b/franka_example_controllers/include/franka_example_controllers/cartesian_impedance_example_controller.h
index 4e02d49..e4ea62c 100644
--- a/franka_example_controllers/include/franka_example_controllers/cartesian_impedance_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/cartesian_impedance_example_controller.h
@@ -6,8 +6,6 @@
#include <string>
#include <vector>
-#include <Eigen/Dense>
-#include <boost/scoped_ptr.hpp>
#include <controller_interface/multi_interface_controller.h>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PoseStamped.h>
@@ -15,6 +13,7 @@
#include <hardware_interface/robot_hw.h>
#include <ros/node_handle.h>
#include <ros/time.h>
+#include <Eigen/Dense>
#include <franka_example_controllers/compliance_paramConfig.h>
#include <franka_hw/franka_model_interface.h>
@@ -60,7 +59,7 @@ class CartesianImpedanceExampleController : public controller_interface::MultiIn
const Eigen::Matrix<double, 7, 1>& gravity);
// Dynamic reconfigure
- boost::scoped_ptr<dynamic_reconfigure::Server<franka_example_controllers::compliance_paramConfig>>
+ std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::compliance_paramConfig>>
dynamic_server_compliance_param_;
ros::NodeHandle dynamic_reconfigure_compliance_param_node_;
void complianceParamCallback(franka_example_controllers::compliance_paramConfig& config,
diff --git a/franka_example_controllers/include/franka_example_controllers/force_example_controller.h b/franka_example_controllers/include/franka_example_controllers/force_example_controller.h
index ff8cb56..1100ff9 100644
--- a/franka_example_controllers/include/franka_example_controllers/force_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/force_example_controller.h
@@ -6,8 +6,6 @@
#include <string>
#include <vector>
-#include <Eigen/Core>
-#include <boost/scoped_ptr.hpp>
#include <controller_interface/multi_interface_controller.h>
#include <dynamic_reconfigure/server.h>
#include <franka_hw/franka_model_interface.h>
@@ -16,6 +14,7 @@
#include <hardware_interface/robot_hw.h>
#include <ros/node_handle.h>
#include <ros/time.h>
+#include <Eigen/Core>
#include <franka_example_controllers/desired_mass_paramConfig.h>
@@ -46,8 +45,7 @@ class ForceExampleController : public controller_interface::MultiInterfaceContro
Eigen::Matrix<double, 7, 1> tau_error_;
// Dynamic reconfigure
- boost::scoped_ptr<
- dynamic_reconfigure::Server<franka_example_controllers::desired_mass_paramConfig>>
+ std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::desired_mass_paramConfig>>
dynamic_server_desired_mass_param_;
ros::NodeHandle dynamic_reconfigure_desired_mass_param_node_;
void desiredMassParamCallback(franka_example_controllers::desired_mass_paramConfig& config,
--
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