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Fix naming scheme in pd_controller_example #357

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Merged
merged 1 commit into from
Jul 17, 2025
Merged

Fix naming scheme in pd_controller_example #357

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18 changes: 9 additions & 9 deletions examples/pd_controller_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";

std::unique_ptr<ExampleRobotWrapper> g_my_robot;

void signal_callback_handler(int signum)
void signalCallbackHandler(int signum)
{
std::cout << "Caught signal " << signum << std::endl;
if (g_my_robot != nullptr)
Expand All @@ -68,7 +68,7 @@ struct DataStorage
std::vector<urcl::vector6d_t> actual;
std::vector<double> time;

void write_to_file(const std::string& filename)
void writeToFile(const std::string& filename)
{
std::fstream output(filename, std::ios::out);
output << "timestamp,target0,target1,target2,target3,target4,target5,actual0,actual1,actual2,"
Expand All @@ -90,8 +90,8 @@ struct DataStorage
}
};

bool pd_control_loop(DataStorage& data_storage, const std::string& actual_data_name,
const comm::ControlMode control_mode, const urcl::vector6d_t& amplitude)
bool pdControlLoop(DataStorage& data_storage, const std::string& actual_data_name, const comm::ControlMode control_mode,
const urcl::vector6d_t& amplitude)
{
const int32_t running_time = 13;
double time = 0.0;
Expand Down Expand Up @@ -165,7 +165,7 @@ bool pd_control_loop(DataStorage& data_storage, const std::string& actual_data_n
int main(int argc, char* argv[])
{
// This will make sure that we stop controlling the robot if the user presses ctrl-c
signal(SIGINT, signal_callback_handler);
signal(SIGINT, signalCallbackHandler);

urcl::setLogLevel(urcl::LogLevel::INFO);

Expand Down Expand Up @@ -209,8 +209,8 @@ int main(int argc, char* argv[])
g_my_robot->getUrDriver()->startRTDECommunication();
URCL_LOG_INFO("Start controlling the robot using the PD controller");
const bool completed_joint_control =
pd_control_loop(joint_controller_storage, "actual_q", comm::ControlMode::MODE_PD_CONTROLLER_JOINT,
{ 0.2, 0.2, 0.2, 0.2, 0.2, 0.2 });
pdControlLoop(joint_controller_storage, "actual_q", comm::ControlMode::MODE_PD_CONTROLLER_JOINT,
{ 0.2, 0.2, 0.2, 0.2, 0.2, 0.2 });
if (!completed_joint_control)
{
URCL_LOG_ERROR("Didn't complete pd control in joint space");
Expand All @@ -229,8 +229,8 @@ int main(int argc, char* argv[])
g_my_robot->stopConsumingRTDEData();
URCL_LOG_INFO("Start controlling the robot using the PD controller with task space targets");
const bool completed_task_control =
pd_control_loop(task_controller_storage, "actual_TCP_pose", comm::ControlMode::MODE_PD_CONTROLLER_TASK,
{ 0.05, 0.05, 0.05, 0.02, 0.02, 0.02 });
pdControlLoop(task_controller_storage, "actual_TCP_pose", comm::ControlMode::MODE_PD_CONTROLLER_TASK,
{ 0.05, 0.05, 0.05, 0.02, 0.02, 0.02 });
if (!completed_task_control)
{
URCL_LOG_ERROR("Didn't complete PD control in task space");
Expand Down
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