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"using" directives are no longer used in global namespaces (#219)

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This commit is contained in:
Tyler Veness
2016-11-01 23:09:51 -07:00
committed by Peter Johnson
parent 78f0b1562c
commit ba8761e39e
39 changed files with 292 additions and 256 deletions
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16
simulation/frc_gazebo_plugins/gyro/src/gyro.cpp
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@@ -11,7 +11,7 @@
GZ_REGISTER_MODEL_PLUGIN(Gyro)
void Gyro::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
void Gyro::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
// Parse SDF properties
@@ -41,27 +41,27 @@ void Gyro::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = transport::NodePtr(new transport::Node());
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);
command_sub = node->Subscribe(topic + "/control", &Gyro::Callback, this);
pos_pub = node->Advertise<msgs::Float64>(topic + "/position");
vel_pub = node->Advertise<msgs::Float64>(topic + "/velocity");
pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
// Connect to the world update event.
// This will trigger the Update function every Gazebo iteration
updateConn = event::Events::ConnectWorldUpdateBegin(
updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
boost::bind(&Gyro::Update, this, _1));
}
void Gyro::Update(const common::UpdateInfo& info) {
msgs::Float64 pos_msg, vel_msg;
void Gyro::Update(const gazebo::common::UpdateInfo& info) {
gazebo::msgs::Float64 pos_msg, vel_msg;
pos_msg.set_data(Limit(GetAngle() - zero));
pos_pub->Publish(pos_msg);
vel_msg.set_data(GetVelocity());
vel_pub->Publish(vel_msg);
}
void Gyro::Callback(const msgs::ConstStringPtr& msg) {
void Gyro::Callback(const gazebo::msgs::ConstStringPtr& msg) {
std::string command = msg->data();
if (command == "reset") {
zero = GetAngle();

32
simulation/frc_gazebo_plugins/gyro/src/gyro.h
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@@ -15,8 +15,6 @@
#include "simulation/gz_msgs/msgs.h"
using namespace gazebo;
/// \brief The axis about which to measure rotation.
typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
@@ -44,13 +42,13 @@ typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
* (gazebo.msgs.String)
* - `units`; Optional, defaults to radians.
*/
class Gyro : public ModelPlugin {
class Gyro : public gazebo::ModelPlugin {
public:
/// \brief Load the gyro and configures it according to the sdf.
void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
/// \brief Sends out the gyro reading each timestep.
void Update(const common::UpdateInfo& info);
void Update(const gazebo::common::UpdateInfo& info);
private:
/// \brief Publish the angle on this topic.
@@ -66,10 +64,10 @@ class Gyro : public ModelPlugin {
double zero;
/// \brief The link that this gyro measures
physics::LinkPtr link;
gazebo::physics::LinkPtr link;
/// \brief Callback for handling control data
void Callback(const msgs::ConstStringPtr& msg);
void Callback(const gazebo::msgs::ConstStringPtr& msg);
/// \brief Gets the current angle, taking into account whether to
/// return radians or degrees.
@@ -83,10 +81,18 @@ class Gyro : public ModelPlugin {
/// depending on whether or radians or degrees are being used.
double Limit(double value);
physics::ModelPtr model; ///< \brief The model that this is attached to.
event::ConnectionPtr
updateConn; ///< \brief Pointer to the world update function.
transport::NodePtr node; ///< \brief The node we're advertising on.
transport::SubscriberPtr command_sub; ///< \brief Subscriber handle.
transport::PublisherPtr pos_pub, vel_pub; ///< \brief Publisher handles.
/// \brief The model to which this is attached.
gazebo::physics::ModelPtr model;
/// \brief Pointer to the world update function.
gazebo::event::ConnectionPtr updateConn;
/// \brief The node on which we're advertising.
gazebo::transport::NodePtr node;
/// \brief Subscriber handle.
gazebo::transport::SubscriberPtr command_sub;
/// \brief Publisher handles.
gazebo::transport::PublisherPtr pos_pub, vel_pub;
};