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Fix of ManipulatorInfo and typos #914

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merged 2 commits into from
Jul 21, 2023
Merged

Fix of ManipulatorInfo and typos #914

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d17f2eb
- ManipulatorInfo constructor now accepts tcp_offset as variant to ma…
rjoomen Jul 19, 2023
db26217
clang-tidy
rjoomen Jul 21, 2023
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2 changes: 1 addition & 1 deletion tesseract_common/include/tesseract_common/manipulator_info.h
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Expand Up @@ -49,7 +49,7 @@ struct ManipulatorInfo
ManipulatorInfo(std::string manipulator_,
std::string working_frame_,
std::string tcp_frame_,
const Eigen::Isometry3d& tcp_offset_ = Eigen::Isometry3d::Identity());
std::variant<std::string, Eigen::Isometry3d> tcp_offset_ = Eigen::Isometry3d::Identity());

/** @brief Name of the manipulator group */
std::string manipulator;
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4 changes: 2 additions & 2 deletions tesseract_common/src/manipulator_info.cpp
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Expand Up @@ -41,11 +41,11 @@ namespace tesseract_common
ManipulatorInfo::ManipulatorInfo(std::string manipulator_,
std::string working_frame_,
std::string tcp_frame_,
const Eigen::Isometry3d& tcp_offset_)
std::variant<std::string, Eigen::Isometry3d> tcp_offset_)
: manipulator(std::move(manipulator_))
, working_frame(std::move(working_frame_))
, tcp_frame(std::move(tcp_frame_))
, tcp_offset(tcp_offset_)
, tcp_offset(std::move(tcp_offset_))
{
}

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2 changes: 1 addition & 1 deletion tesseract_kinematics/core/src/rep_factory.cpp
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Expand Up @@ -153,7 +153,7 @@ InverseKinematics::UPtr REPInvKinFactory::create(const std::string& solver_name,

inv_kin = plugin_factory.createInvKin(m_info.class_name, m_info, scene_graph, scene_state);
if (inv_kin == nullptr)
throw std::runtime_error("REPInvKinFactory, failed to create positioner forward kinematics!");
throw std::runtime_error("REPInvKinFactory, failed to create positioner inverse kinematics!");
}
else
{
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2 changes: 1 addition & 1 deletion tesseract_kinematics/core/src/rop_factory.cpp
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Expand Up @@ -154,7 +154,7 @@ InverseKinematics::UPtr ROPInvKinFactory::create(const std::string& solver_name,

inv_kin = plugin_factory.createInvKin(m_info.class_name, m_info, scene_graph, scene_state);
if (inv_kin == nullptr)
throw std::runtime_error("ROPInvKinFactory, failed to create positioner forward kinematics!");
throw std::runtime_error("ROPInvKinFactory, failed to create positioner inverse kinematics!");
}
else
{
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