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Use own implementation of stod() (backport #428) #445

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Feb 15, 2024
Merged

Use own implementation of stod() (backport #428) #445

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7 changes: 5 additions & 2 deletions example_14/hardware/rrbot_actuator_without_feedback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <vector>

#include "hardware_interface/actuator_interface.hpp"
#include "hardware_interface/lexical_casts.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/rclcpp.hpp"

Expand All @@ -41,8 +42,10 @@ hardware_interface::CallbackReturn RRBotActuatorWithoutFeedback::on_init(
return hardware_interface::CallbackReturn::ERROR;
}
// START: This part here is for exemplary purposes - Please do not copy to your production code
hw_start_sec_ = std::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
hw_start_sec_ =
hardware_interface::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
hw_stop_sec_ =
hardware_interface::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
socket_port_ = std::stoi(info_.hardware_parameters["example_param_socket_port"]);
// END: This part here is for exemplary purposes - Please do not copy to your production code

Expand Down
11 changes: 7 additions & 4 deletions example_14/hardware/rrbot_sensor_for_position_feedback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include <thread>
#include <vector>

#include "hardware_interface/lexical_casts.hpp"
#include "hardware_interface/sensor_interface.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/rclcpp.hpp"
Expand All @@ -43,9 +44,11 @@ hardware_interface::CallbackReturn RRBotSensorPositionFeedback::on_init(
return hardware_interface::CallbackReturn::ERROR;
}
// START: This part here is for exemplary purposes - Please do not copy to your production code
hw_start_sec_ = std::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
hw_slowdown_ = std::stod(info_.hardware_parameters["example_param_hw_slowdown"]);
hw_start_sec_ =
hardware_interface::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
hw_stop_sec_ =
hardware_interface::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
hw_slowdown_ = hardware_interface::stod(info_.hardware_parameters["example_param_hw_slowdown"]);
socket_port_ = std::stoi(info_.hardware_parameters["example_param_socket_port"]);
// END: This part here is for exemplary purposes - Please do not copy to your production code

Expand Down Expand Up @@ -151,7 +154,7 @@ hardware_interface::CallbackReturn RRBotSensorPositionFeedback::on_init(
rclcpp::get_logger("RRBotSensorPositionFeedback"),
"Read form buffer sockets data: '%s'", buffer);

rt_incomming_data_ptr_.writeFromNonRT(std::stod(buffer));
rt_incomming_data_ptr_.writeFromNonRT(hardware_interface::stod(buffer));
}
else
{
Expand Down
7 changes: 5 additions & 2 deletions example_2/hardware/diffbot_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <memory>
#include <vector>

#include "hardware_interface/lexical_casts.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/rclcpp.hpp"

Expand All @@ -37,8 +38,10 @@ hardware_interface::CallbackReturn DiffBotSystemHardware::on_init(
}

// BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
hw_start_sec_ = std::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
hw_start_sec_ =
hardware_interface::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
hw_stop_sec_ =
hardware_interface::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
// END: This part here is for exemplary purposes - Please do not copy to your production code
hw_positions_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
hw_velocities_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
Expand Down
3 changes: 2 additions & 1 deletion example_8/hardware/rrbot_transmissions_system_position_only.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <sstream>
#include <vector>

#include "hardware_interface/lexical_casts.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/logging.hpp"
Expand Down Expand Up @@ -51,7 +52,7 @@ hardware_interface::CallbackReturn RRBotTransmissionsSystemPositionOnlyHardware:
return hardware_interface::CallbackReturn::ERROR;
}

actuator_slowdown_ = std::stod(info_.hardware_parameters["actuator_slowdown"]);
actuator_slowdown_ = hardware_interface::stod(info_.hardware_parameters["actuator_slowdown"]);

const auto num_joints = std::accumulate(
info_.transmissions.begin(), info_.transmissions.end(), 0ul,
Expand Down
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