Feature/arm code refactoring

.clang-format

@@ -4,4 +4,6 @@ AccessModifierOffset: -4
 CommentPragmas: 'NOLINT'
 PackConstructorInitializers: CurrentLine
 AlignOperands: AlignAfterOperator
-AlignTrailingComments: true
+AlignTrailingComments: true
+ColumnLimit: 0
+SeparateDefinitionBlocks: Always

src/wr_control_drive_arm/CMakeLists.txt

@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.8)
 project(wr_control_drive_arm)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+# # Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++17)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
+# # Find catkin macros and libraries
+# # if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+# # is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
@@ -15,201 +15,213 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
 )
 
-## System dependencies are found with CMake's conventions
+# # System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# # Uncomment this if the package has a setup.py. This macro ensures
+# # modules and global scripts declared therein get installed
+# # See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 # catkin_python_setup()
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
+# ###############################################
+# # Declare ROS messages, services and actions ##
+# ###############################################
+
+# # To declare and build messages, services or actions from within this
+# # package, follow these steps:
+# # * Let MSG_DEP_SET be the set of packages whose message types you use in
+# #   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+# # * In the file package.xml:
+# #   * add a build_depend tag for "message_generation"
+# #   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+# #   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+# #     but can be declared for certainty nonetheless:
+# #     * add a exec_depend tag for "message_runtime"
+# # * In this file (CMakeLists.txt):
+# #   * add "message_generation" and every package in MSG_DEP_SET to
+# #     find_package(catkin REQUIRED COMPONENTS ...)
+# #   * add "message_runtime" and every package in MSG_DEP_SET to
+# #     catkin_package(CATKIN_DEPENDS ...)
+# #   * uncomment the add_*_files sections below as needed
+# #     and list every .msg/.srv/.action file to be processed
+# #   * uncomment the generate_messages entry below
+# #   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+# # Generate messages in the 'msg' folder
 # add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
+# FILES
+# Message1.msg
+# Message2.msg
 # )
 
-## Generate services in the 'srv' folder
+# # Generate services in the 'srv' folder
 # add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
+# FILES
+# Service1.srv
+# Service2.srv
 # )
 
-## Generate actions in the 'action' folder
+# # Generate actions in the 'action' folder
 # add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
+# FILES
+# Action1.action
+# Action2.action
 # )
 
-## Generate added messages and services with any dependencies listed here
+# # Generate added messages and services with any dependencies listed here
 # generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
+# DEPENDENCIES
+# std_msgs  # Or other packages containing msgs
 # )
 
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
+# ###############################################
+# # Declare ROS dynamic reconfigure parameters ##
+# ###############################################
+
+# # To declare and build dynamic reconfigure parameters within this
+# # package, follow these steps:
+# # * In the file package.xml:
+# #   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+# # * In this file (CMakeLists.txt):
+# #   * add "dynamic_reconfigure" to
+# #     find_package(catkin REQUIRED COMPONENTS ...)
+# #   * uncomment the "generate_dynamic_reconfigure_options" section below
+# #     and list every .cfg file to be processed
+
+# # Generate dynamic reconfigure parameters in the 'cfg' folder
 # generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
 # )
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
+# ##################################
+# # catkin specific configuration ##
+# ##################################
+# # The catkin_package macro generates cmake config files for your package
+# # Declare things to be passed to dependent projects
+# # INCLUDE_DIRS: uncomment this if your package contains header files
+# # LIBRARIES: libraries you create in this project that dependent projects also need
+# # CATKIN_DEPENDS: catkin_packages dependent projects also need
+# # DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES wr_control_drive_science
-#  CATKIN_DEPENDS roscpp rospy
-#  DEPENDS system_lib
+
+  # INCLUDE_DIRS include
+  # LIBRARIES wr_control_drive_science
+  # CATKIN_DEPENDS roscpp rospy
+  # DEPENDS system_lib
 )
 
-###########
-## Build ##
-###########
+# ##########
+# # Build ##
+# ##########
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
+# # Specify additional locations of header files
+# # Your package locations should be listed before other locations
 include_directories(
-# include
+
+  # include
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
- add_library( ${PROJECT_NAME}
-   src/ArmMotor.cpp
-   src/AbstractJoint.cpp
-   src/DifferentialJoint.cpp
-   src/SimpleJoint.cpp
- )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
+# # Declare a C++ library
+add_library(${PROJECT_NAME}
+  src/DifferentialJointToMotorSpeedConverter.cpp
+  src/DirectJointToMotorSpeedConverter.cpp
+  src/Joint.cpp
+  src/MathUtil.cpp
+  src/Motor.cpp
+  src/SingleEncoderJointPositionMonitor.cpp
+)
+
+# # Add cmake target dependencies of the library
+# # as an example, code may need to be generated before libraries
+# # either from message generation or dynamic reconfigure
 # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
+# # Declare a C++ executable
+# # With catkin_make all packages are built within a single CMake context
+# # The recommended prefix ensures that target names across packages don't collide
 # add_executable(${PROJECT_NAME}_node src/wr_control_drive_arm_node.cpp)
 add_executable(ArmControlActionServer src/ArmControlActionServer.cpp)
 target_link_libraries(ArmControlActionServer ${catkin_LIBRARIES} ${PROJECT_NAME})
 add_executable(JointStatePublisher src/JointStatePublisher.cpp)
 target_link_libraries(JointStatePublisher ${catkin_LIBRARIES} ${PROJECT_NAME})
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+add_executable(testDifferential src/testDifferential.cpp)
+target_link_libraries(testDifferential ${catkin_LIBRARIES} ${PROJECT_NAME})
+
+set_property(TARGET ArmControlActionServer PROPERTY CXX_STANDARD 17)
+set_property(TARGET JointStatePublisher PROPERTY CXX_STANDARD 17)
+set_property(TARGET ArmControlActionServer PROPERTY CXX_STANDARD_REQUIRED true)
+set_property(TARGET JointStatePublisher PROPERTY CXX_STANDARD_REQUIRED true)
+set_property(TARGET testDifferential PROPERTY CXX_STANDARD 17)
+set_property(TARGET testDifferential PROPERTY CXX_STANDARD_REQUIRED true)
+
+# # Rename C++ executable without prefix
+# # The above recommended prefix causes long target names, the following renames the
+# # target back to the shorter version for ease of user use
+# # e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
 # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
 
-## Add cmake target dependencies of the executable
-## same as for the library above
+# # Add cmake target dependencies of the executable
+# # same as for the library above
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-## Specify libraries to link a library or executable target against
+# # Specify libraries to link a library or executable target against
 # target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
+# ${catkin_LIBRARIES}
 # )
 
-#############
-## Install ##
-#############
+# ############
+# # Install ##
+# ############
 
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
+# # Mark executable scripts (Python etc.) for installation
+# # in contrast to setup.py, you can choose the destination
 # catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# # Mark executables for installation
+# # See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
 # install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# # Mark libraries for installation
+# # See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
 # install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
-## Mark cpp header files for installation
+# # Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
 # )
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
+# # Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
-#############
-## Testing ##
-#############
+# ############
+# # Testing ##
+# ############
 
-## Add gtest based cpp test target and link libraries
+# # Add gtest based cpp test target and link libraries
 # catkin_add_gtest(${PROJECT_NAME}-test test/test_wr_control_drive_science.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
 
-## Add folders to be run by python nosetests
+# # Add folders to be run by python nosetests
 # catkin_add_nosetests(test)