3x faster getError member function of GroupSync&BulkRead Class ROBOTIS-GIT#388

Author: ROBOTIS-zerom

c++/src/dynamixel_sdk/group_bulk_read.cpp

@@ -232,14 +232,5 @@ bool GroupBulkRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }

c++/src/dynamixel_sdk/group_sync_read.cpp

@@ -201,14 +201,5 @@ bool GroupSyncRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }

ros/src/dynamixel_sdk/group_bulk_read.cpp

@@ -232,14 +232,5 @@ bool GroupBulkRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }

ros/src/dynamixel_sdk/group_sync_read.cpp

@@ -201,14 +201,5 @@ bool GroupSyncRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }