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private ControllerList in the controller manager #39
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bump |
Seems reasonable... Just to clarify, currently there is this: HandlePtr ControllerManager::getHandle(const std::string& name)
{
// Try joints first
for (JointHandleList::iterator j = joints_.begin(); j != joints_.end(); j++)
{
if ((*j)->getName() == name)
return *j;
}
// Then controllers
for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
{
if ((*c)->getController()->getName() == name)
return (*c)->getController();
}
// Not found
return HandlePtr();
}
JointHandlePtr ControllerManager::getJointHandle(const std::string& name)
{
// Try joints first
for (JointHandleList::iterator j = joints_.begin(); j != joints_.end(); j++)
{
if ((*j)->getName() == name)
return *j;
}
// Not found
return JointHandlePtr();
} And I think you want: ControllerPtr ControllerManager::getController(const std::string& name)
{
for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
{
if ((*c)->getController()->getName() == name)
return (*c)->getController();
}
// Not found
return ControllerPtr();
} ? |
this is great, thank you for your response. Maybe while we are at it, we could also add a function that returns list of the controller names? For example:
or alternatively:
|
I think std::vector<std::string> ControllerManager::getControllerNames()
{
std::vector<std::string> controller_names;
for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
{
controller_names.push_back((*c)->getController()->getName());
}
return controller_names;
} Fits better with the rest of the code. |
looks good to me! |
mikeferguson
added a commit
to mikeferguson/robot_controllers
that referenced
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Jun 17, 2020
this was discussed in ZebraDevs#39
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Hi I was wondering what the reason was to have the ControllerList private in the ControllerManager class. I'm trying to work with this class, but keep wanting more info about controllers. Since I can't access the list, and since i can only get the pointers to the handles for the controllers, it's proving difficult to get the info i need. I can get the joint handles by name, wondering why i cant actualyl get the controllers (as controller classes) by name. Thanks.
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