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[moveit_cpp] Fix double declaration #1097

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merged 5 commits into from
Mar 18, 2022
Merged

[moveit_cpp] Fix double declaration #1097

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f595b19
[moveit_cpp] Fix double declaration
galou Mar 2, 2022
d089444
Replace macro with templated function
galou Mar 3, 2022
aec47dd
Merge branch 'main' into fix_double_declaration
galou Mar 8, 2022
3b269a6
Merge branch 'main' into fix_double_declaration
henningkayser Mar 11, 2022
edb646a
Merge branch 'main' into fix_double_declaration
JafarAbdi Mar 16, 2022
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48 changes: 30 additions & 18 deletions ...it_planners/pilz_industrial_motion_planner/include/joint_limits/joint_limits_rosparam.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,16 @@
#include "joint_limits/joint_limits.hpp"
#include "rclcpp/rclcpp.hpp"

/** declare a parameter if not already declared. */
#define DECLARE(node, name, type, default_value) \
do \
{ \
if (not node->has_parameter(name)) \
{ \
node->declare_parameter<type>(name, default_value); \
} \
} while (false);

namespace joint_limits
{
inline bool declare_parameters(const std::string& joint_name, const rclcpp::Node::SharedPtr& node,
Expand All @@ -35,24 +45,24 @@ inline bool declare_parameters(const std::string& joint_name, const rclcpp::Node
const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
try
{
node->declare_parameter<bool>(param_base_name + ".has_position_limits", false);
node->declare_parameter<double>(param_base_name + ".min_position", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<double>(param_base_name + ".max_position", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<bool>(param_base_name + ".has_velocity_limits", false);
node->declare_parameter<double>(param_base_name + ".min_velocity", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<double>(param_base_name + ".max_velocity", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<bool>(param_base_name + ".has_acceleration_limits", false);
node->declare_parameter<double>(param_base_name + ".max_acceleration", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<bool>(param_base_name + ".has_jerk_limits", false);
node->declare_parameter<double>(param_base_name + ".max_jerk", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<bool>(param_base_name + ".has_effort_limits", false);
node->declare_parameter<double>(param_base_name + ".max_effort", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<bool>(param_base_name + ".angle_wraparound", false);
node->declare_parameter<bool>(param_base_name + ".has_soft_limits", false);
node->declare_parameter<double>(param_base_name + ".k_position", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<double>(param_base_name + ".k_velocity", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<double>(param_base_name + ".soft_lower_limit", std::numeric_limits<double>::quiet_NaN());
node->declare_parameter<double>(param_base_name + ".soft_upper_limit", std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".has_position_limits", bool, false);
DECLARE(node, param_base_name + ".min_position", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".max_position", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".has_velocity_limits", bool, false);
DECLARE(node, param_base_name + ".min_velocity", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".max_velocity", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".has_acceleration_limits", bool, false);
DECLARE(node, param_base_name + ".max_acceleration", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".has_jerk_limits", bool, false);
DECLARE(node, param_base_name + ".max_jerk", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".has_effort_limits", bool, false);
DECLARE(node, param_base_name + ".max_effort", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".angle_wraparound", bool, false);
DECLARE(node, param_base_name + ".has_soft_limits", bool, false);
DECLARE(node, param_base_name + ".k_position", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".k_velocity", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".soft_lower_limit", double, std::numeric_limits<double>::quiet_NaN());
DECLARE(node, param_base_name + ".soft_upper_limit", double, std::numeric_limits<double>::quiet_NaN());
}
catch (const std::exception& ex)
{
Expand Down Expand Up @@ -288,4 +298,6 @@ inline bool get_joint_limits(const std::string& joint_name, const rclcpp::Node::

} // namespace joint_limits

#undef DECLARE

#endif // JOINT_LIMITS__JOINT_LIMITS_ROSPARAM_HPP_