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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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Refactor: introduce getter for "does group have a base track associated?" #183

Closed gavanderhoorn closed 11 months ago

gavanderhoorn commented 11 months ago

As per title.

No functional changes, just a simple refactor.

I also added a simple test to verify it works as I believe it should (based on the comment(s) in CtrlGroup.h):

Performing unit tests
Testing CtrlGroup ConvertToRosPos - 6 DOF style: PASS
Testing CtrlGroup ConvertToMotoPos - 6 DOF style: PASS
Testing CtrlGroup ConvertToRosPos - Delta style: PASS
Testing CtrlGroup ConvertToMotoPos - Delta style: PASS
Testing CtrlGroup ConvertToRosPos - SIA style: PASS
Testing CtrlGroup ConvertToMotoPos - SIA style: PASS
Testing CtrlGroup HasBaseTrack - no base track: PASS
Testing CtrlGroup HasBaseTrack - base track (B1): PASS
Testing Ros_MpCoord_To_GeomMsgsPose: PASS
Testing Ros_MpCoord_To_GeomMsgsTransform: PASS
Testing SUCCESSFUL
gavanderhoorn commented 11 months ago

I added this as part of my debugging for #172, #176 and #179.