Skip to content

Commit 2427bbc

Browse files
jaagutjaagut
committed
Fix compile warnings
1 parent 4640f9e commit 2427bbc

File tree

14 files changed

+23
-23
lines changed

14 files changed

+23
-23
lines changed

‎bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -23,8 +23,8 @@ Stabilizer::Stabilizer(std::string ns) {
2323

2424
pid_trunk_fused_pitch_ = std::make_shared<control_toolbox::PidROS>(pitch_node_, "");
2525
pid_trunk_fused_roll_ = std::make_shared<control_toolbox::PidROS>(roll_node_, "");
26-
pid_trunk_fused_pitch_->initPid();
27-
pid_trunk_fused_roll_->initPid();
26+
pid_trunk_fused_pitch_->initialize_from_ros_parameters();
27+
pid_trunk_fused_roll_->initialize_from_ros_parameters();
2828

2929
reset();
3030
}
@@ -51,8 +51,8 @@ KickPositions Stabilizer::stabilize(const KickPositions &positions, const rclcpp
5151
cop_x_error = cop_x - positions.trunk_pose.translation().x();
5252
cop_y_error = cop_y - positions.trunk_pose.translation().y();
5353

54-
double x_correction = pid_trunk_fused_roll_->computeCommand(cop_x_error, dt);
55-
double y_correction = pid_trunk_fused_pitch_->computeCommand(cop_y_error, dt);
54+
double x_correction = pid_trunk_fused_roll_->compute_command(cop_x_error, dt);
55+
double y_correction = pid_trunk_fused_pitch_->compute_command(cop_y_error, dt);
5656

5757
stabilized_positions.trunk_pose.translation().x() += x_correction;
5858
stabilized_positions.trunk_pose.translation().y() += y_correction;

‎bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,13 @@
11
#ifndef BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_ENGINE_H_
22
#define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_ENGINE_H_
33

4+
#include <bitbots_dynup/dynup_parameters.hpp>
45
#include <bitbots_dynup/msg/dynup_engine_debug.hpp>
56
#include <bitbots_splines/abstract_engine.hpp>
67
#include <bitbots_splines/pose_spline.hpp>
78
#include <bitbots_splines/smooth_spline.hpp>
89
#include <bitbots_splines/spline_container.hpp>
910
#include <cmath>
10-
#include <dynup_parameters.hpp>
1111
#include <optional>
1212
#include <rclcpp/rclcpp.hpp>
1313
#include <string>

‎bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,8 @@
22
#define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_IK_H_
33

44
#include <bio_ik/bio_ik.hpp>
5+
#include <bitbots_dynup/dynup_parameters.hpp>
56
#include <bitbots_splines/abstract_ik.hpp>
6-
#include <dynup_parameters.hpp>
77
#include <moveit/robot_model_loader/robot_model_loader.hpp>
88
#include <moveit/robot_state/robot_state.hpp>
99
#include <sensor_msgs/msg/joint_state.hpp>

‎bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,14 +6,14 @@
66

77
#include <bitbots_dynup/dynup_engine.hpp>
88
#include <bitbots_dynup/dynup_ik.hpp>
9+
#include <bitbots_dynup/dynup_parameters.hpp>
910
#include <bitbots_dynup/dynup_stabilizer.hpp>
1011
#include <bitbots_dynup/msg/dynup_poses.hpp>
1112
#include <bitbots_dynup/visualizer.hpp>
1213
#include <bitbots_msgs/action/dynup.hpp>
1314
#include <bitbots_msgs/msg/joint_command.hpp>
1415
#include <bitbots_utils/utils.hpp>
1516
#include <cmath>
16-
#include <dynup_parameters.hpp>
1717
#include <geometry_msgs/msg/pose.hpp>
1818
#include <geometry_msgs/msg/pose_array.hpp>
1919
#include <geometry_msgs/msg/pose_stamped.hpp>

‎bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,9 +4,9 @@
44
#include <rot_conv/rot_conv.h>
55

66
#include <Eigen/Geometry>
7+
#include <bitbots_dynup/dynup_parameters.hpp>
78
#include <bitbots_splines/abstract_stabilizer.hpp>
89
#include <control_toolbox/pid_ros.hpp>
9-
#include <dynup_parameters.hpp>
1010
#include <optional>
1111
#include <sensor_msgs/msg/imu.hpp>
1212
#include <tf2_eigen/tf2_eigen.hpp>

‎bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,13 @@
11
#ifndef BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_VISUALIZER_H_
22
#define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_VISUALIZER_H_
33

4+
#include <bitbots_dynup/dynup_parameters.hpp>
45
#include <bitbots_dynup/dynup_utils.hpp>
56
#include <bitbots_dynup/msg/dynup_ik_offset.hpp>
67
#include <bitbots_splines/abstract_ik.hpp>
78
#include <bitbots_splines/abstract_visualizer.hpp>
89
#include <bitbots_splines/smooth_spline.hpp>
910
#include <bitbots_splines/spline_container.hpp>
10-
#include <dynup_parameters.hpp>
1111
#include <geometry_msgs/msg/pose_stamped.hpp>
1212
#include <moveit/robot_model/robot_model.hpp>
1313
#include <moveit/robot_state/robot_state.hpp>

‎bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -6,8 +6,8 @@ Stabilizer::Stabilizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Stab
66
: params_(params),
77
pid_trunk_pitch_(node, "stabilizer.trunk_pid.pitch"),
88
pid_trunk_roll_(node, "stabilizer.trunk_pid.roll") {
9-
pid_trunk_pitch_.initPid();
10-
pid_trunk_roll_.initPid();
9+
pid_trunk_pitch_.initialize_from_ros_parameters();
10+
pid_trunk_roll_.initialize_from_ros_parameters();
1111

1212
reset();
1313
}
@@ -43,8 +43,8 @@ DynupResponse Stabilizer::stabilize(const DynupResponse &ik_goals, const rclcpp:
4343

4444
// Adapt trunk based on PID controller
4545
goal_fused.fusedPitch +=
46-
pid_trunk_pitch_.computeCommand(goal_fused.fusedPitch - current_orientation.fusedPitch, dt);
47-
goal_fused.fusedRoll += pid_trunk_roll_.computeCommand(goal_fused.fusedRoll - current_orientation.fusedRoll, dt);
46+
pid_trunk_pitch_.compute_command(goal_fused.fusedPitch - current_orientation.fusedPitch, dt);
47+
goal_fused.fusedRoll += pid_trunk_roll_.compute_command(goal_fused.fusedRoll - current_orientation.fusedRoll, dt);
4848

4949
// Check if the trunk is stable, meaning it isn't leaning too much
5050
// TODO it would be better to use the rotational velocity of the imu to determine stability

‎bitbots_motion/bitbots_head_mover/src/move_head.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,14 +3,14 @@
33

44
#include <bio_ik/bio_ik.hpp>
55
#include <bio_ik_msgs/msg/ik_response.hpp>
6+
#include <bitbots_head_mover/head_parameters.hpp>
67
#include <bitbots_msgs/action/look_at.hpp>
78
#include <bitbots_msgs/msg/head_mode.hpp>
89
#include <bitbots_msgs/msg/joint_command.hpp>
910
#include <chrono>
1011
#include <cmath>
1112
#include <geometry_msgs/msg/pose_stamped.hpp>
1213
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
13-
#include <head_parameters.hpp>
1414
#include <iostream>
1515
#include <memory>
1616
#include <moveit/planning_scene/planning_scene.hpp>

‎bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,8 +6,8 @@ The original files can be found at:
66
#ifndef BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_ENGINE_H_
77
#define BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_ENGINE_H_
88

9+
#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
910
#include <bitbots_quintic_walk/walk_utils.hpp>
10-
#include <bitbots_quintic_walk_parameters.hpp>
1111
#include <bitbots_splines/abstract_engine.hpp>
1212
#include <bitbots_splines/pose_spline.hpp>
1313
#include <bitbots_splines/smooth_spline.hpp>

‎bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
#ifndef BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_IK_H_
22
#define BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_IK_H_
3+
#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
34
#include <bitbots_quintic_walk/walk_utils.hpp>
4-
#include <bitbots_quintic_walk_parameters.hpp>
55
#include <bitbots_splines/abstract_ik.hpp>
66
#include <moveit/robot_state/robot_state.hpp>
77
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

‎bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -14,11 +14,11 @@ The original files can be found at:
1414
#include <bitbots_msgs/msg/foot_pressure.hpp>
1515
#include <bitbots_msgs/msg/joint_command.hpp>
1616
#include <bitbots_msgs/msg/robot_control_state.hpp>
17+
#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
1718
#include <bitbots_quintic_walk/walk_engine.hpp>
1819
#include <bitbots_quintic_walk/walk_ik.hpp>
1920
#include <bitbots_quintic_walk/walk_stabilizer.hpp>
2021
#include <bitbots_quintic_walk/walk_visualizer.hpp>
21-
#include <bitbots_quintic_walk_parameters.hpp>
2222
#include <bitbots_splines/abstract_ik.hpp>
2323
#include <chrono>
2424
#include <control_toolbox/pid_ros.hpp>

‎bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,8 +4,8 @@ namespace bitbots_quintic_walk {
44

55
WalkStabilizer::WalkStabilizer(rclcpp::Node::SharedPtr node)
66
: pid_trunk_fused_pitch_(node, "node.trunk_pid.pitch"), pid_trunk_fused_roll_(node, "node.trunk_pid.roll") {
7-
pid_trunk_fused_pitch_.initPid();
8-
pid_trunk_fused_roll_.initPid();
7+
pid_trunk_fused_pitch_.initialize_from_ros_parameters();
8+
pid_trunk_fused_roll_.initialize_from_ros_parameters();
99

1010
reset();
1111
}
@@ -29,9 +29,9 @@ WalkResponse WalkStabilizer::stabilize(const WalkResponse& response, const rclcp
2929

3030
// adapt trunk values based on PID controllers
3131
double fused_roll_correction =
32-
pid_trunk_fused_roll_.computeCommand(goal_fused.fusedRoll - response.current_fused_roll, dt);
32+
pid_trunk_fused_roll_.compute_command(goal_fused.fusedRoll - response.current_fused_roll, dt);
3333
double fused_pitch_correction =
34-
pid_trunk_fused_pitch_.computeCommand(goal_fused.fusedPitch - response.current_fused_pitch, dt);
34+
pid_trunk_fused_pitch_.compute_command(goal_fused.fusedPitch - response.current_fused_pitch, dt);
3535

3636
// Change trunk x offset (in the trunks frame of reference) based on the PID controllers
3737
WalkResponse stabilized_response{response};

‎bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -8,9 +8,9 @@
88
#include <tf2_ros/buffer.h>
99

1010
#include <bitbots_localization/RobotState.hpp>
11+
#include <bitbots_localization/localization_parameters.hpp>
1112
#include <bitbots_localization/map.hpp>
1213
#include <bitbots_localization/tools.hpp>
13-
#include <localization_parameters.hpp>
1414
#include <particle_filter/ParticleFilter.hpp>
1515
#include <sensor_msgs/msg/point_cloud2.hpp>
1616
#include <sensor_msgs/point_cloud2_iterator.hpp>

‎bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -17,6 +17,7 @@
1717
#include <bitbots_localization/Resampling.hpp>
1818
#include <bitbots_localization/RobotState.hpp>
1919
#include <bitbots_localization/StateDistribution.hpp>
20+
#include <bitbots_localization/localization_parameters.hpp>
2021
#include <bitbots_localization/map.hpp>
2122
#include <bitbots_localization/srv/reset_filter.hpp>
2223
#include <bitbots_localization/srv/set_paused.hpp>
@@ -35,7 +36,6 @@
3536
#include <geometry_msgs/msg/twist.hpp>
3637
#include <image_transport/image_transport.hpp>
3738
#include <iterator>
38-
#include <localization_parameters.hpp>
3939
#include <memory>
4040
#include <particle_filter/CRandomNumberGenerator.hpp>
4141
#include <particle_filter/ParticleFilter.hpp>

0 commit comments

Comments
 (0)