Rename updateGains method

christophfroehlich · christophfroehlich · commit 11b7d209d382 · 2023-12-06T13:01:32.000Z
diff --git a/joint_trajectory_controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp b/joint_trajectory_controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp
@@ -72,7 +72,7 @@ class PidTrajectoryPlugin : public TrajectoryControllerBase
   /**
    * @brief parse PID gains from parameter struct
    */
-  void updateGains();
+  void parseGains();
 
   // number of command joints
   size_t num_cmd_joints_;
diff --git a/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp b/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp
@@ -63,7 +63,7 @@ bool PidTrajectoryPlugin::configure()
 bool PidTrajectoryPlugin::activate()
 {
   params_ = param_listener_->get_params();
-  updateGains();
+  parseGains();
   return true;
 };
 
@@ -72,13 +72,13 @@ bool PidTrajectoryPlugin::updateGainsRT()
   if (param_listener_->is_old(params_))
   {
     params_ = param_listener_->get_params();
-    updateGains();
+    parseGains();
   }
 
   return true;
 }
 
-void PidTrajectoryPlugin::updateGains()
+void PidTrajectoryPlugin::parseGains()
 {
   for (size_t i = 0; i < num_cmd_joints_; ++i)
   {

Original file line number	Diff line number	Diff line change
`@@ -63,7 +63,7 @@ bool PidTrajectoryPlugin::configure()`
`63`	`63`	`bool PidTrajectoryPlugin::activate()`
`64`	`64`	`{`
`65`	`65`	`params_ = param_listener_->get_params();`
`66`		`- updateGains();`
	`66`	`+ parseGains();`
`67`	`67`	`return true;`
`68`	`68`	`};`
`69`	`69`
`@@ -72,13 +72,13 @@ bool PidTrajectoryPlugin::updateGainsRT()`
`72`	`72`	`if (param_listener_->is_old(params_))`
`73`	`73`	`{`
`74`	`74`	`params_ = param_listener_->get_params();`
`75`		`- updateGains();`
	`75`	`+ parseGains();`
`76`	`76`	`}`
`77`	`77`
`78`	`78`	`return true;`
`79`	`79`	`}`
`80`	`80`
`81`		`-void PidTrajectoryPlugin::updateGains()`
	`81`	`+void PidTrajectoryPlugin::parseGains()`
`82`	`82`	`{`
`83`	`83`	`for (size_t i = 0; i < num_cmd_joints_; ++i)`
`84`	`84`	`{`