Merge pull request #8 from open-dynamic-robot-initiative/fwidmaier/re…

…name-angle-to-position Rename Observation::angle to ::position
open-dynamic-robot-initiative · Oct 21, 2019 · a738a3a · a738a3a
2 parents fd36fb4 + 3d75783
commit a738a3a
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Showing 4 changed files with 9 additions and 9 deletions.
diff --git a/include/robot_interfaces/finger_logger.hpp b/include/robot_interfaces/finger_logger.hpp
@@ -77,11 +77,11 @@ class FingerLogger
                      << ","
                      << "(Current Index)"
                      << ","
-                     << " {O} Angle J1 "
+                     << " {O} Position J1 "
                      << ","
-                     << " {O} Angle J2 "
+                     << " {O} Position J2 "
                      << ","
-                     << " {O} Angle J3 "
+                     << " {O} Position J3 "
                      << ","
                      << " {O} Velocity J1 "
                      << ","
@@ -145,9 +145,9 @@ class FingerLogger
                         output_file_
                             << std::fixed
                             << logger_data_->observation->timestamp_s(j)
-                            << " , " << j << " , " << observation.angle[0]
-                            << " , " << observation.angle[1] << " , "
-                            << observation.angle[2] << " , "
+                            << " , " << j << " , " << observation.position[0]
+                            << " , " << observation.position[1] << " , "
+                            << observation.position[2] << " , "
                             << observation.velocity[0] << " , "
                             << observation.velocity[1] << " , "
                             << observation.velocity[2] << " , "

diff --git a/include/robot_interfaces/n_joint_robot_types.hpp b/include/robot_interfaces/n_joint_robot_types.hpp
@@ -163,7 +163,7 @@ struct NJointRobotTypes
 
     struct Observation
     {
-        Vector angle;
+        Vector position;
         Vector velocity;
         Vector torque;
     };

diff --git a/srcpy/py_finger_types.cpp b/srcpy/py_finger_types.cpp
@@ -49,7 +49,7 @@ PYBIND11_MODULE(py_finger_types, m)
              pybind11::arg("position_kd") = FingerTypes::Action::None());
 
     pybind11::class_<FingerTypes::Observation>(m, "Observation")
-        .def_readwrite("angle", &FingerTypes::Observation::angle)
+        .def_readwrite("position", &FingerTypes::Observation::position)
         .def_readwrite("velocity", &FingerTypes::Observation::velocity)
         .def_readwrite("torque", &FingerTypes::Observation::torque);
 

diff --git a/srcpy/py_one_joint_types.cpp b/srcpy/py_one_joint_types.cpp
@@ -49,7 +49,7 @@ PYBIND11_MODULE(py_one_joint_types, m)
             pybind11::arg("position_kd") = NJointRobotTypes<1>::Action::None());
 
     pybind11::class_<NJointRobotTypes<1>::Observation>(m, "Observation")
-        .def_readwrite("angle", &NJointRobotTypes<1>::Observation::angle)
+        .def_readwrite("position", &NJointRobotTypes<1>::Observation::position)
         .def_readwrite("velocity", &NJointRobotTypes<1>::Observation::velocity)
         .def_readwrite("torque", &NJointRobotTypes<1>::Observation::torque);