Rename variable

Author: christophfroehlich

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp

@@ -164,7 +164,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   bool has_effort_command_interface_ = false;
 
   /// If true, a velocity feedforward term plus corrective PID term is used
-  bool use_closed_loop_control_law_ = false;
+  bool use_external_control_law_ = false;
   // class loader for actual trajectory controller
   std::shared_ptr<
     pluginlib::ClassLoader<joint_trajectory_controller_plugins::TrajectoryControllerBase>>

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -130,7 +130,7 @@ controller_interface::return_type JointTrajectoryController::update(
 
     // update gains of controller
     // variable use_closed_loop_control_law_ is updated in on_configure only
-    if (use_closed_loop_control_law_)
+    if (use_external_control_law_)
     {
       if (traj_contr_->updateGainsRT() == false)
       {
@@ -310,7 +310,7 @@ controller_interface::return_type JointTrajectoryController::update(
         }
         if (has_velocity_command_interface_)
         {
-          if (use_closed_loop_control_law_)
+          if (use_external_control_law_)
           {
             assign_interface_from_point(joint_command_interface_[1], tmp_command_);
           }
@@ -748,13 +748,13 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
     contains_interface_type(params_.command_interfaces, hardware_interface::HW_IF_EFFORT);
 
   // if there is only velocity or if there is effort command interface
-  // then use also closed-loop controller
-  use_closed_loop_control_law_ =
+  // then use external control law
+  use_external_control_law_ =
     (has_velocity_command_interface_ && params_.command_interfaces.size() == 1 &&
      !params_.open_loop_control) ||
     has_effort_command_interface_;
 
-  if (use_closed_loop_control_law_)
+  if (use_external_control_law_)
   {
     try
     {
@@ -782,7 +782,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
       {
         RCLCPP_FATAL(
           logger,
-          "The trajectory controller plugin `%s` failed to initialize for some reason. Aborting.",
+          "The trajectory controller plugin `%s` failed to configure for some reason. Aborting.",
           params_.controller_plugin.c_str());
         return CallbackReturn::FAILURE;
       }

joint_trajectory_controller/test/test_trajectory_controller.cpp

@@ -367,7 +367,7 @@ TEST_P(TrajectoryControllerTestParameterized, update_dynamic_parameters)
   updateControllerAsync();
   auto pids = traj_controller_->get_pids();
 
-  if (traj_controller_->use_closed_loop_pid_adapter())
+  if (traj_controller_->use_external_control_law())
   {
     EXPECT_EQ(pids.size(), 3);
     auto gain_0 = pids.at(0)->getGains();
@@ -525,8 +525,8 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun
 
   if (traj_controller_->has_velocity_command_interface())
   {
-    // use_closed_loop_pid_adapter_
-    if (traj_controller_->use_closed_loop_pid_adapter())
+    // use_external_control_law_
+    if (traj_controller_->use_external_control_law())
     {
       // we expect u = k_p * (s_d-s) for positions
       EXPECT_NEAR(
@@ -551,8 +551,7 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun
 
   if (traj_controller_->has_effort_command_interface())
   {
-    // use_closed_loop_pid_adapter_
-    if (traj_controller_->use_closed_loop_pid_adapter())
+    if (traj_controller_->use_external_control_law())
     {
       // we expect u = k_p * (s_d-s) for positions
       EXPECT_NEAR(
@@ -638,8 +637,8 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound)
 
   if (traj_controller_->has_velocity_command_interface())
   {
-    // use_closed_loop_pid_adapter_
-    if (traj_controller_->use_closed_loop_pid_adapter())
+    // use_external_control_law_
+    if (traj_controller_->use_external_control_law())
     {
       // we expect u = k_p * (s_d-s) for positions[0] and positions[1]
       EXPECT_NEAR(
@@ -666,8 +665,8 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound)
 
   if (traj_controller_->has_effort_command_interface())
   {
-    // use_closed_loop_pid_adapter_
-    if (traj_controller_->use_closed_loop_pid_adapter())
+    // use_external_control_law_
+    if (traj_controller_->use_external_control_law())
     {
       // we expect u = k_p * (s_d-s) for positions[0] and positions[1]
       EXPECT_NEAR(
@@ -831,9 +830,9 @@ TEST_P(TrajectoryControllerTestParameterized, timeout)
 }
 
 /**
- * @brief check if use_closed_loop_pid is active
+ * @brief check if use_external_control_law is set
  */
-TEST_P(TrajectoryControllerTestParameterized, use_closed_loop_pid)
+TEST_P(TrajectoryControllerTestParameterized, set_external_control_law)
 {
   rclcpp::executors::MultiThreadedExecutor executor;
 
@@ -847,7 +846,7 @@ TEST_P(TrajectoryControllerTestParameterized, use_closed_loop_pid)
      !traj_controller_->is_open_loop()) ||
     traj_controller_->has_effort_command_interface())
   {
-    EXPECT_TRUE(traj_controller_->use_closed_loop_control_law());
+    EXPECT_TRUE(traj_controller_->use_external_control_law());
   }
 }
 
@@ -904,7 +903,7 @@ TEST_P(TrajectoryControllerTestParameterized, velocity_error)
   }
   // is the velocity error correct?
   if (
-    traj_controller_->use_closed_loop_control_law()  // always needed for PID controller
+    traj_controller_->use_external_control_law()  // always needed for PID controller
     || (traj_controller_->has_velocity_state_interface() &&
         traj_controller_->has_velocity_command_interface()))
   {
@@ -969,8 +968,8 @@ TEST_P(TrajectoryControllerTestParameterized, test_jumbled_joint_order)
 
   if (traj_controller_->has_velocity_command_interface())
   {
-    // if use_closed_loop_control_law_==false: we expect desired velocities from direct sampling
-    // if use_closed_loop_control_law_==true: we expect desired velocities, because we use PID with
+    // if use_external_control_law_==false: we expect desired velocities from direct sampling
+    // if use_external_control_law_==true: we expect desired velocities, because we use PID with
     // feedforward term only
     EXPECT_GT(0.0, joint_vel_[0]);
     EXPECT_GT(0.0, joint_vel_[1]);

joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

@@ -112,7 +112,7 @@ class TestableJointTrajectoryController
 
   bool has_effort_command_interface() const { return has_effort_command_interface_; }
 
-  bool use_closed_loop_control_law() const { return use_closed_loop_control_law_; }
+  bool use_external_control_law() const { return use_external_control_law_; }
 
   bool is_open_loop() const { return params_.open_loop_control; }
 
@@ -265,7 +265,7 @@ class TrajectoryControllerTest : public ::testing::Test
 
     // set pid parameters before activate. The PID plugin has to be loaded already, otherwise
     // parameters are not declared yet
-    if (traj_controller_->use_closed_loop_control_law())
+    if (traj_controller_->use_external_control_law())
     {
       SetPidParameters(k_p, ff);
     }
@@ -535,7 +535,7 @@ class TrajectoryControllerTest : public ::testing::Test
     // i.e., active but trivial trajectory (one point only)
     EXPECT_TRUE(traj_controller_->has_trivial_traj());
 
-    if (traj_controller_->use_closed_loop_control_law() == false)
+    if (traj_controller_->use_external_control_law() == false)
     {
       if (traj_controller_->has_position_command_interface())
       {