From d4b4a572e9b36de0a4b18c6b909b3191c20e3e19 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de>
Date: Tue, 28 Jan 2020 14:05:51 +0100
Subject: [PATCH] remove const in header for pass by value params
---
franka_hw/include/franka_hw/franka_combinable_hw.h | 8 ++++----
franka_hw/include/franka_hw/franka_hw.h | 10 +++++-----
2 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/franka_hw/include/franka_hw/franka_combinable_hw.h b/franka_hw/include/franka_hw/franka_combinable_hw.h
index 214473f..bc2dffd 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 e17a9b9..2b6ee5e 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.
*/
--
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