diff --git a/franka_hw/include/franka_hw/franka_combinable_hw.h b/franka_hw/include/franka_hw/franka_combinable_hw.h index 214473f7b1f6bf369414a892b60211988ad76d75..bc2dffd8da5f550d041bf5204b9d318fe3f20f3b 100644 --- a/franka_hw/include/franka_hw/franka_combinable_hw.h +++ b/franka_hw/include/franka_hw/franka_combinable_hw.h @@ -144,16 +144,16 @@ class FrankaCombinableHW : public FrankaHW { return current_cmd; } - void publishErrorState(const bool error); + void publishErrorState(bool error); void setupServicesAndActionServers(ros::NodeHandle& node_handle); void initRobot() override; bool setRunFunction(const ControlMode& requested_control_mode, - const bool limit_rate, - const double cutoff_frequency, - const franka::ControllerMode internal_controller) override; + bool limit_rate, + double cutoff_frequency, + franka::ControllerMode internal_controller) override; void controlLoop(); diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h index e17a9b992c30a19894a8b1367d3ead6c3715b88c..2b6ee5eb2b17be4d2dd44bf9493e29647c00daf0 100644 --- a/franka_hw/include/franka_hw/franka_hw.h +++ b/franka_hw/include/franka_hw/franka_hw.h @@ -262,7 +262,7 @@ class FrankaHW : public hardware_interface::RobotHW { * @return True if the array contains NaN values, false otherwise. */ template <size_t size> - static bool arrayHasNaN(const std::array<double, size> array) { + static bool arrayHasNaN(const std::array<double, size>& array) { return std::any_of(array.begin(), array.end(), [](const double& e) { return std::isnan(e); }); } @@ -365,7 +365,7 @@ class FrankaHW : public hardware_interface::RobotHW { template <typename T> void setupJointCommandInterface(std::array<double, 7>& command, franka::RobotState& state, - const bool use_q_d, + bool use_q_d, T& interface) { for (size_t i = 0; i < joint_names_.size(); i++) { hardware_interface::JointStateHandle state_handle; @@ -427,9 +427,9 @@ class FrankaHW : public hardware_interface::RobotHW { * @return True if successful, false otherwise. */ virtual bool setRunFunction(const ControlMode& requested_control_mode, - const bool limit_rate, - const double cutoff_frequency, - const franka::ControllerMode internal_controller); + bool limit_rate, + double cutoff_frequency, + franka::ControllerMode internal_controller); /** * Uses the robot_ip_ to connect to the robot via libfranka and loads the libfranka model. */