fix: lint error handling

Author: Woojin-Crive

src/dynamixel/dynamixel.cpp

@@ -840,7 +840,7 @@ DxlError Dynamixel::GetDxlValueFromSyncRead()
           dxl_info_.ConvertValueRPMToVelocityRPS(ID, static_cast<int32_t>(dxl_getdata));
       } else if (indirect_info_read_[ID].item_name.at(item_index) == "Present Current") {
         *it_read_data.item_data_ptr_vec.at(item_index) =
-         dxl_info_.ConvertCurrentToEffort(ID, static_cast<int16_t>(dxl_getdata));
+          dxl_info_.ConvertCurrentToEffort(ID, static_cast<int16_t>(dxl_getdata));
       } else {
         *it_read_data.item_data_ptr_vec.at(item_index) =
           static_cast<double>(dxl_getdata);
@@ -962,7 +962,7 @@ DxlError Dynamixel::GetDxlValueFromBulkRead()
           dxl_info_.ConvertValueRPMToVelocityRPS(ID, static_cast<int32_t>(dxl_getdata));
       } else if (indirect_info_read_[ID].item_name.at(item_index) == "Present Current") {
         *it_read_data.item_data_ptr_vec.at(item_index) =
-         dxl_info_.ConvertCurrentToEffort(ID, static_cast<int16_t>(dxl_getdata));
+          dxl_info_.ConvertCurrentToEffort(ID, static_cast<int16_t>(dxl_getdata));
       } else {
         *it_read_data.item_data_ptr_vec.at(item_index) =
           static_cast<double>(dxl_getdata);

src/dynamixel_hardware_interface.cpp

@@ -869,17 +869,23 @@ void DynamixelHardware::CalcJointToTransmission()
   }
 
   for (size_t i = 0; i < num_of_transmissions_; i++) {
-    if(hdl_trans_commands_.at(i).interface_name_vec.size() > GOAL_CURRENT_INDEX && hdl_trans_commands_.at(i).interface_name_vec.at(GOAL_CURRENT_INDEX) == "Goal Current")
+    if(hdl_trans_commands_.at(i).interface_name_vec.size() > GOAL_CURRENT_INDEX &&
+      hdl_trans_commands_.at(i).interface_name_vec.at(GOAL_CURRENT_INDEX) == "Goal Current")
     {
-      double value = 0.0;
-      for (size_t j = 0; j < num_of_joints_; j++) {
-        if(hdl_joint_commands_.at(j).interface_name_vec.size() > GOAL_CURRENT_INDEX && hdl_joint_commands_.at(j).interface_name_vec.at(GOAL_CURRENT_INDEX) == hardware_interface::HW_IF_EFFORT)
+      for(size_t j = 0; j < hdl_joint_commands_.size(); j++)
+      {
+        if(hdl_joint_commands_.at(j).interface_name_vec.size() > GOAL_CURRENT_INDEX &&
+          hdl_joint_commands_.at(j).interface_name_vec.at(GOAL_CURRENT_INDEX) ==
+          hardware_interface::HW_IF_EFFORT)
         {
-          value += joint_to_transmission_matrix_[i][j] *
-            (*hdl_joint_commands_.at(j).value_ptr_vec.at(GOAL_CURRENT_INDEX));
+          double value = 0.0;
+          for (size_t k = 0; k < num_of_joints_; k++) {
+            value += joint_to_transmission_matrix_[i][k] *
+              (*hdl_joint_commands_.at(k).value_ptr_vec.at(GOAL_CURRENT_INDEX));
+          }
+          *hdl_trans_commands_.at(i).value_ptr_vec.at(GOAL_CURRENT_INDEX) = value;
         }
       }
-      *hdl_trans_commands_.at(i).value_ptr_vec.at(GOAL_CURRENT_INDEX) = value;
     }
   }
 }