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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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10
simulation/frc_gazebo_plugins/servo/src/servo.cpp
View File

@@ -19,7 +19,7 @@
GZ_REGISTER_MODEL_PLUGIN(Servo)
void Servo::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
void Servo::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
signal = 0;
@@ -44,17 +44,17 @@ void Servo::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);
sub = node->Subscribe(topic, &Servo::Callback, this);
// connect to the world update event
// this will call update every iteration
updateConn = event::Events::ConnectWorldUpdateBegin(
updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
boost::bind(&Servo::Update, this, _1));
}
void Servo::Update(const common::UpdateInfo& info) {
void Servo::Update(const gazebo::common::UpdateInfo& info) {
// torque is in kg*cm
// joint->SetAngle(0,signal*180);
if (joint->GetAngle(0) < signal) {
@@ -65,7 +65,7 @@ void Servo::Update(const common::UpdateInfo& info) {
joint->SetForce(0, 0);
}
void Servo::Callback(const msgs::ConstFloat64Ptr& msg) {
void Servo::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
signal = msg->data();
if (signal < -1) {
signal = -1;

28
simulation/frc_gazebo_plugins/servo/src/servo.h
View File

@@ -13,8 +13,6 @@
#include "simulation/gz_msgs/msgs.h"
using namespace gazebo;
/**
* \brief Plugin for controlling a servo.
*
@@ -34,13 +32,13 @@ using namespace gazebo;
* - `link`: Name of the link the servo is attached to.
* - `topic`: Optional. Message type should be gazebo.msgs.Float64.
*/
class Servo : public ModelPlugin {
class Servo : public gazebo::ModelPlugin {
public:
/// \brief load the servo and configure it according to the sdf
void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
/// \brief Update the torque on the joint from the dc motor each timestep.
void Update(const common::UpdateInfo& info);
void Update(const gazebo::common::UpdateInfo& info);
private:
/// \brief Topic to read control signal from.
@@ -53,14 +51,20 @@ class Servo : public ModelPlugin {
double torque;
/// \brief the joint that this servo moves
physics::JointPtr joint;
gazebo::physics::JointPtr joint;
/// \brief Callback for receiving msgs and storing the signal
void Callback(const msgs::ConstFloat64Ptr& msg);
void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
physics::ModelPtr model; ///< \brief The model that this is attached to
event::ConnectionPtr
updateConn; ///< \brief The Pointer to the world update function
transport::NodePtr node; ///< \brief The node we're advertising torque on
transport::SubscriberPtr sub; ///< \brief the Subscriber for the pwm signal
/// \brief The model to which this is attached
gazebo::physics::ModelPtr model;
/// \brief The pointer to the world update function
gazebo::event::ConnectionPtr updateConn;
/// \brief The node on which we're advertising torque
gazebo::transport::NodePtr node;
/// \brief The subscriber for the PWM signal
gazebo::transport::SubscriberPtr sub;
};