Simplify motion control #358
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ted-miller
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Jan 23, 2025
| /// Given a joint name, search through each control group and axis to find | ||
| /// the control group + axis number of the corresponding joint | ||
| /// </summary> | ||
| /// <param name="jointName">Pointer to the head of the incoming trajectory</param> |
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That argument is not actually a pointer. Should it be?
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It probably should be. I'll change that.
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We could change it, but rosidl_runtime_c__String is essentially a wrapper around a pointer, grouped with its size and capacity fields.
That's probably 4 + 8 bytes on a YRC1. You'd save copying 8 bytes, which I would not expect to have a measurable performance impact.
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I chose to change it to a pointer anyways. I know that it likely won't have a real performance, but it's more consistent. Everywhere else, I am passing a pointer rather than the full struct.
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MotionControl.chad several instances of unused code, code that could have been replaced with a function call, and code that was otherwise duplicated.The only real functional change of this PR is that duplicate joint names are checked for all points in
queue_traj_pointmode now, not just for the first point. Everything else is a readability/code duplication removal change.