Constify

christophfroehlich · saikishor · web-flow · commit ef21eef0d4b8 · 2025-01-20T17:23:31.000+01:00
Co-authored-by: Sai Kishor Kothakota &lt;sai.kishor@pal-robotics.com&gt;
diff --git a/example_14/hardware/rrbot_sensor_for_position_feedback.cpp b/example_14/hardware/rrbot_sensor_for_position_feedback.cpp
@@ -252,8 +252,8 @@ hardware_interface::return_type RRBotSensorPositionFeedback::read(
   }
 
   // integrate velocity to position
-  auto name = info_.joints[0].name + "/" + hardware_interface::HW_IF_POSITION;
-  auto new_value = get_state(name) + (last_measured_velocity_ * duration.seconds()) / hw_slowdown_;
+  const auto name = info_.joints[0].name + "/" + hardware_interface::HW_IF_POSITION;
+  const auto new_value = get_state(name) + (last_measured_velocity_ * duration.seconds()) / hw_slowdown_;
   set_state(name, new_value);
 
   ss << std::fixed << std::setprecision(2);

Original file line number	Diff line number	Diff line change
`@@ -252,8 +252,8 @@ hardware_interface::return_type RRBotSensorPositionFeedback::read(`
`252`	`252`	`}`
`253`	`253`
`254`	`254`	`// integrate velocity to position`
`255`		`- auto name = info_.joints[0].name + "/" + hardware_interface::HW_IF_POSITION;`
`256`		`- auto new_value = get_state(name) + (last_measured_velocity_ * duration.seconds()) / hw_slowdown_;`
	`255`	`+ const auto name = info_.joints[0].name + "/" + hardware_interface::HW_IF_POSITION;`
	`256`	`+ const auto new_value = get_state(name) + (last_measured_velocity_ * duration.seconds()) / hw_slowdown_;`
`257`	`257`	`set_state(name, new_value);`
`258`	`258`
`259`	`259`	`ss << std::fixed << std::setprecision(2);`