Code review

AndyZe · Oct 24, 2023 · d8e47de · d8e47de
1 parent adc2968
commit d8e47de
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Showing 2 changed files with 11 additions and 7 deletions.
diff --git a/...ore/online_signal_smoothing/include/moveit/online_signal_smoothing/smoothing_base_class.h b/...ore/online_signal_smoothing/include/moveit/online_signal_smoothing/smoothing_base_class.h
@@ -73,14 +73,18 @@ class SmoothingBaseClass
 
   /**
    * Smooth an array of joint position deltas
-   * @param position_vector array of joint position commands
+   * @param positiona array of joint position commands
+   * @param velocities array of joint velocity commands
+   * @param accelerations array of joint acceleration commands
    * @return True if initialization was successful
    */
   virtual bool doSmoothing(Eigen::VectorXd& positions, Eigen::VectorXd& velocities, Eigen::VectorXd& accelerations) = 0;
 
   /**
    * Reset to a given joint state
-   * @param joint_positions reset the filters to these joint positions
+   * @param positions reset the filters to these joint positions
+   * @param velocities reset the filters to these joint velocities (if applicable)
+   * @param accelerations reset the filters to these joint accelerations (if applicable)
    * @return True if reset was successful
    */
   virtual bool reset(const Eigen::VectorXd& positions, const Eigen::VectorXd& velocities,

diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp
@@ -135,21 +135,21 @@ trajectory_msgs::msg::JointTrajectory composeTrajectoryMessage(const servo::Para
 
   if (servo_params.publish_joint_positions)
   {
-    for (size_t i = 0; i < num_joints; i++)
+    for (size_t i = 0; i < num_joints; ++i)
     {
       point.positions[i] = joint_state.positions[i];
     }
   }
   if (servo_params.publish_joint_velocities)
   {
-    for (size_t i = 0; i < num_joints; i++)
+    for (size_t i = 0; i < num_joints; ++i)
     {
       point.velocities[i] = joint_state.velocities[i];
     }
   }
   if (servo_params.publish_joint_accelerations)
   {
-    for (size_t i = 0; i < num_joints; i++)
+    for (size_t i = 0; i < num_joints; ++i)
     {
       point.accelerations[i] = joint_state.accelerations[i];
     }
@@ -167,14 +167,14 @@ std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& s
   multi_array.data.resize(num_joints);
   if (servo_params.publish_joint_positions)
   {
-    for (size_t i = 0; i < num_joints; i++)
+    for (size_t i = 0; i < num_joints; ++i)
     {
       multi_array.data[i] = joint_state.positions[i];
     }
   }
   else if (servo_params.publish_joint_velocities)
   {
-    for (size_t i = 0; i < num_joints; i++)
+    for (size_t i = 0; i < num_joints; ++i)
     {
       multi_array.data[i] = joint_state.velocities[i];
     }