coman.h refactoring about gazebo-yarp-plugins HOT 12 CLOSED

I will if you give me at least two days :)

2013/11/6 EnricoMingo [email protected]

As in the title, any good man that want to make some order in that
"horrible" file?

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Reply to this email directly or view it on GitHubhttps://github.com//issues/25
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Ok, I suggest to do something like a lot of headers like coman_torque.h, coman_command, coman_pos.h, etc...
And try to divide clearly what is implemented, waht is not and will be needed and what it will be not needed. Ok?

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Yammer pls

2013/11/6 EnricoMingo [email protected]

Ok, I suggest to do something like a lot of headers like coman_torque.h,
coman_command, coman_pos.h, etc...
And try to divide clearly what is implemented, waht is not and will be
needed and what it will be not needed. Ok?

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Reply to this email directly or view it on GitHubhttps://github.com//issues/25#issuecomment-27860798
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Ok, we will split coman.h in many h and cpp files. Each header file will contain a single yarp interface and each cpp will implement the methods of a single yarp interface. Inside coman.h and coman.cpp there will be only methods related to gazebo.

from gazebo-yarp-plugins.

(Sorry for not being present in the last week but I was at IROS and a bit busy).
I suggest if we can use this change to start changing the "coman" name (at least initially in the file) to something more related to the new semantics of the plugin, for example gazebo_yarp_controlboard (using a name scheme similar to the one used in gazebo_ros_pkgs 1).

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Enrico can I start the refactoring?

2013/11/6 Silvio Traversaro [email protected]

(Sorry for not being present in the last week but I was at IROS and a bit
busy).
I suggest if we can use this change to start changing the "coman" name (at
least initially in the file) to something more related to the new semantics
of the plugin, for example gazebo_yarp_controlboard (using a name scheme
similar to the one used in gazebo_ros_pkgs 1https://github.com/ros-simulation/gazebo_ros_pkgs/tree/hydro-devel/gazebo_plugins/src
).

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Reply to this email directly or view it on GitHubhttps://github.com//issues/25#issuecomment-27887582
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No, we have found a bug in the joint velocity controller

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Ok, I think I did it.
Can somebody pull the branch "refactor" and test it?
Also, can somebody review the changes before I merge?

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Tested, at a first glance it seems everything is working.

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How is integration of this refactoring going?
I had some time to polish a few things (documentation and loading configuration from sdf files also for the sensors) but I guess I have to wait this changes to get merged.
cc @EnricoMingo

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Done

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Perfect, thanks.

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