ComponentDefault has been added quite some time ago. I've noticed the JointForceCmd component tutorial still uses the cumbersome if (component == null) CreateComponent() approach.
This PR modernizes it to use ComponentDefault and modernizes the accompanying tutorial as well.
I've compile- and run-tested this change and it seems everything works as it should.
Checklist
[x] Signed all commits for DCO
[ ] Added tests
[x] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.
🦟 Bug fix
Summary
ComponentDefault has been added quite some time ago. I've noticed the JointForceCmd component tutorial still uses the cumbersome
if (component == null) CreateComponent()approach.This PR modernizes it to use
ComponentDefaultand modernizes the accompanying tutorial as well.I've compile- and run-tested this change and it seems everything works as it should.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.