private ControllerList in the controller manager

[swhart115]

Hi I was wondering what the reason was to have the ControllerList private in the ControllerManager class. I'm trying to work with this class, but keep wanting more info about controllers. Since I can't access the list, and since i can only get the pointers to the handles for the controllers, it's proving difficult to get the info i need. I can get the joint handles by name, wondering why i cant actualyl get the controllers (as controller classes) by name. Thanks.

[swhart115]

bump

[moriarty]

Seems reasonable... Just to clarify, currently there is this:

HandlePtr ControllerManager::getHandle(const std::string& name)
{
  // Try joints first
  for (JointHandleList::iterator j = joints_.begin(); j != joints_.end(); j++)
  {
    if ((*j)->getName() == name)
      return *j;
  }

  // Then controllers
  for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
  {
    if ((*c)->getController()->getName() == name)
      return (*c)->getController();
  }

  // Not found
  return HandlePtr();
}

JointHandlePtr ControllerManager::getJointHandle(const std::string& name)
{
  // Try joints first
  for (JointHandleList::iterator j = joints_.begin(); j != joints_.end(); j++)
  {
    if ((*j)->getName() == name)
      return *j;
  }

  // Not found
  return JointHandlePtr();
}

And I think you want:

ControllerPtr ControllerManager::getController(const std::string& name)
{
  for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
  {
    if ((*c)->getController()->getName() == name)
      return (*c)->getController();
  }

  // Not found
  return ControllerPtr();
}

?

[swhart115]

this is great, thank you for your response. Maybe while we are at it, we could also add a function that returns list of the controller names?

For example:

std::vector<std::string> ControllerManager::getControllerNames()
{
  std::vector<std::string> controller_names;
  for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
  {
    controller_names.push_back((*c)->getController()->getName());
  }
  return controller_names;
}

or alternatively:

void ControllerManager::getControllerNames(std::vector<std::string> &controller_names)
{
  controller_names.clear();
  for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
  {
    controller_names.push_back((*c)->getController()->getName());
  }
}

[moriarty]

I think

std::vector<std::string> ControllerManager::getControllerNames()
{
  std::vector<std::string> controller_names;
  for (ControllerList::iterator c = controllers_.begin(); c != controllers_.end(); c++)
  {
    controller_names.push_back((*c)->getController()->getName());
  }
  return controller_names;
}

Fits better with the rest of the code.

[swhart115]

looks good to me!