From 203d4d644d62337fa3f1d6a5218d5f200bad8543 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 8 Sep 2020 04:32:56 -0300
Subject: [PATCH] Move config and launch files to twil_bringup.

---
 launch/adaptive_dynamics_linearizing.launch | 5 -----
 src/dynamics_linearizing_controller.cpp     | 2 +-
 src/twist_mrac_linearizing_controller.cpp   | 2 +-
 3 files changed, 2 insertions(+), 7 deletions(-)
 delete mode 100644 launch/adaptive_dynamics_linearizing.launch

diff --git a/launch/adaptive_dynamics_linearizing.launch b/launch/adaptive_dynamics_linearizing.launch
deleted file mode 100644
index 3d601bf..0000000
--- a/launch/adaptive_dynamics_linearizing.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <node name="ident" pkg="twil_ident" type="ident" output="screen">
-	<remap from="ident/dynamic_parameters" to="adaptive_linearizing_controller/dynamic_parameters"/>
-  </node>
-</launch>
diff --git a/src/dynamics_linearizing_controller.cpp b/src/dynamics_linearizing_controller.cpp
index dd594de..d0d55d6 100644
--- a/src/dynamics_linearizing_controller.cpp
+++ b/src/dynamics_linearizing_controller.cpp
@@ -27,7 +27,7 @@
 
 #include <linearizing_controllers/dynamics_linearizing_controller.h>
 
-#define sqr(x) (x*x)
+#define sqr(x) ((x)*(x))
 
 namespace effort_controllers
 {	
diff --git a/src/twist_mrac_linearizing_controller.cpp b/src/twist_mrac_linearizing_controller.cpp
index bbc1a63..bf70d93 100644
--- a/src/twist_mrac_linearizing_controller.cpp
+++ b/src/twist_mrac_linearizing_controller.cpp
@@ -27,7 +27,7 @@
 
 #include <linearizing_controllers/twist_mrac_linearizing_controller.h>
 
-#define sqr(x) (x*x)
+#define sqr(x) ((x)*(x))
 
 namespace effort_controllers
 {	
-- 
2.12.0