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enable eloquent rcpputils pointer traits #14

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Feb 12, 2020
Merged

enable eloquent rcpputils pointer traits #14

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7 changes: 3 additions & 4 deletions ros_controllers/src/trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,8 +53,7 @@ Trajectory::update(std::shared_ptr<trajectory_msgs::msg::JointTrajectory> joint_
TrajectoryPointConstIter
Trajectory::sample(const rclcpp::Time & sample_time)
{
// TODO(karsten1987): Enable this for eloquent when `rclcpp::is_pointer` is used
// THROW_ON_NULLPTR(trajectory_msg_)
THROW_ON_NULLPTR(trajectory_msg_)

// skip if current time hasn't reached traj time of the first msg yet
if (time_less_than(sample_time, trajectory_start_time_)) {
Expand All @@ -75,15 +74,15 @@ Trajectory::sample(const rclcpp::Time & sample_time)
TrajectoryPointConstIter
Trajectory::begin() const
{
// THROW_ON_NULLPTR(trajectory_msg_)
THROW_ON_NULLPTR(trajectory_msg_)

return trajectory_msg_->points.begin();
}

TrajectoryPointConstIter
Trajectory::end() const
{
// THROW_ON_NULLPTR(trajectory_msg_)
THROW_ON_NULLPTR(trajectory_msg_)

return trajectory_msg_->points.end();
}
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