initialize generic system

Author: mamueluth

.clang-format

@@ -12,5 +12,4 @@ DerivePointerAlignment: false
 PointerAlignment: Middle
 ReflowComments: true
 IncludeBlocks: Preserve
-InsertBraces: true
 ...

mock_hardware/include/mock_components/generic_system.hpp

@@ -17,6 +17,7 @@
 #ifndef MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_
 #define MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_
 
+#include <limits>
 #include <memory>
 #include <string>
 #include <vector>
@@ -105,13 +106,11 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
   // And StateInterface(joint_interface.state_)
   struct InterfaceData
   {
-    // TODO(Manuel) set initial to NaN and on_init initialize to given value in info or 0.0
     explicit InterfaceData(const std::string & name)
     : name_(name),
-      command_(0.0),  // command_(std::numeric_limits<double>::quiet_NaN()),
-      state_(0.0),    // state_(std::numeric_limits<double>::quiet_NaN()),
-      transmission_passthrough_(
-        0.0)  // transmission_passthrough_(std::numeric_limits<double>::quiet_NaN())
+      command_(std::numeric_limits<double>::quiet_NaN()),
+      state_(std::numeric_limits<double>::quiet_NaN()),
+      transmission_passthrough_(std::numeric_limits<double>::quiet_NaN())
     {
     }
 

mock_hardware/src/generic_system.cpp

@@ -309,7 +309,17 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
       actuator_handles.push_back(actuator_handle);
     }
 
-    // TODO(Manuel) set initial to NaN and on_init initialize to given value in info or 0.0
+    for (auto & joint_interface : joint_interfaces_)
+    {
+      joint_interface.state_ = 0.0;
+      joint_interface.command_ = 0.0;
+    }
+
+    for (auto & actuator_interface : actuator_interfaces_)
+    {
+      actuator_interface.state_ = 0.0;
+      actuator_interface.command_ = 0.0;
+    }
 
     /// @note no need to store the joint and actuator handles, the transmission
     /// will keep whatever info it needs after is done with them