From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 12 Dec 2018 14:16:55 +0000 (-0200)
Subject: Fix typo.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=3ba9f1b6a5b19a7ef426f9a50c3c21b3e847a0e3;p=pid_plus_gravity_controller.git

Fix typo.
---

diff --git a/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h b/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h
index a7bac23..1732cea 100644
--- a/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h
+++ b/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h
@@ -51,8 +51,8 @@ namespace effort_controllers
 
 		ros::Subscriber sub_command_;
 
-		KDL::Tree tree;
-	        KDL::Chain chain;
+		KDL::Tree tree_;
+	        KDL::Chain chain_;
 		KDL::ChainDynParam *chainParam_;
 				
 		KDL::JntArray q_;
diff --git a/src/pid_plus_gravity_controller.cpp b/src/pid_plus_gravity_controller.cpp
index d522e2e..1748753 100644
--- a/src/pid_plus_gravity_controller.cpp
+++ b/src/pid_plus_gravity_controller.cpp
@@ -80,7 +80,7 @@ namespace effort_controllers
 			return false;
 		}
 		
-		if (!kdl_parser::treeFromString(robot_desc_string,tree))
+		if (!kdl_parser::treeFromString(robot_desc_string,tree_))
 		{
 			ROS_ERROR("Failed to construct KDL tree.");
 			return false;
@@ -100,7 +100,7 @@ namespace effort_controllers
 			return false;
 		}
 		
-		if (!tree.getChain(chainRoot,chainTip,chain)) 
+		if (!tree_.getChain(chainRoot,chainTip,chain_)) 
 		{
 			ROS_ERROR("Failed to get chain from KDL tree.");
 			return false;
@@ -111,15 +111,15 @@ namespace effort_controllers
 		node_.param("gravity/y",g[1],0.0);
 		node_.param("gravity/z",g[2],-9.8);
 		
-		if((chainParam_=new KDL::ChainDynParam(chain,g)) == NULL)
+		if((chainParam_=new KDL::ChainDynParam(chain_,g)) == NULL)
 		{
 			ROS_ERROR("Failed to create ChainDynParam.");
 			return false;
 		}
 
-		q_.resize(chain.getNrOfJoints());
-		qr_.resize(chain.getNrOfJoints());
-		gravity_.resize(chain.getNrOfJoints());
+		q_.resize(chain_.getNrOfJoints());
+		qr_.resize(chain_.getNrOfJoints());
+		gravity_.resize(chain_.getNrOfJoints());
 		
 		return true;
 	}