Allow Parameter construction with empty name (#67)

* Private comes after public * Allow Parameter construction without name * Docstrings update * Update CHANGELOG * Improve docstring Co-authored-by: Enrico Eberhard <[email protected]> * 6.3.41 -> 6.3.42 --------- Co-authored-by: Enrico Eberhard <[email protected]>
aica-technology · Feb 8, 2023 · abec0d2 · abec0d2
1 parent d6c87f4
commit abec0d2
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -36,6 +36,7 @@ Release Versions:
 - Refactor operators in JointState (multiplication & division #62, addition #63, subtraction #64)
 - Bind operators of joint states (#65)
 - Add initialize method to Parameter class (#68)
+- Allow Parameter construction with empty name (#67)
 
 ## 6.3.1
 

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-6.3.41
+6.3.42
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 6.3.41 CONFIG REQUIRED)
+find_package(control_libraries 6.3.42 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 6.3.41
+PROJECT_NUMBER = 6.3.42
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/protocol/clproto_cpp/CMakeLists.txt b/protocol/clproto_cpp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 6.3.41)
+project(clproto VERSION 6.3.42)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

diff --git a/python/setup.py b/python/setup.py
@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "6.3.41"
+__version__ = "6.3.42"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 6.3.41)
+project(control_libraries VERSION 6.3.42)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)

diff --git a/source/state_representation/include/state_representation/parameters/Parameter.hpp b/source/state_representation/include/state_representation/parameters/Parameter.hpp
@@ -9,36 +9,38 @@
 
 namespace state_representation {
 
+/**
+ * @class Parameter
+ * @brief Class to represent name-value pairs of different types
+ * @tparam T The type of the value stored in the parameter
+ */
 template<typename T>
 class Parameter : public ParameterInterface {
-private:
-  T value_;///< Value of the parameter
-
 public:
   /**
-   * @brief Constructor with name of the parameter.
-   * @param name The name of the parameter
+   * @brief Constructor with the name of the parameter
+   * @param name The name of the parameter (default is empty)
    */
-  explicit Parameter(const std::string& name);
+  explicit Parameter(const std::string& name = "");
 
   /**
-   * @brief Constructor with a name and a value.
+   * @brief Constructor with a name and a value
    * @param name The name of the parameter
    * @param value The value of the parameter
    */
-  explicit Parameter(const std::string& name, const T& value);
-
-  /**
-   * @brief Default virtual destructor
-   */
-  virtual ~Parameter() = default;
+  Parameter(const std::string& name, const T& value);
 
   /**
    * @brief Copy constructor
    * @param parameter The parameter to copy
    */
   template<typename U>
-  Parameter(const Parameter<U>& parameter);
+  explicit Parameter(const Parameter<U>& parameter);
+
+  /**
+   * @brief Default virtual destructor
+   */
+  virtual ~Parameter() = default;
 
   /**
    * @brief Conversion equality
@@ -47,28 +49,28 @@ class Parameter : public ParameterInterface {
   Parameter<T>& operator=(const Parameter<U>& parameter);
 
   /**
-   * @brief Getter of the value attribute.
+   * @brief Getter of the value attribute
    * @tparam U The expected type of the parameter
    * @return The value attribute
    */
   template<typename U>
   U get_value() const;
 
   /**
-   * @brief Getter of the value attribute.
+   * @brief Getter of the value attribute
    * @return The value attribute
    */
   const T& get_value() const;
 
   /**
-   * @brief Getter of the value attribute.
+   * @brief Getter of the value attribute
    * @return The value attribute
    */
   T& get_value();
 
   /**
-   * @brief Setter of the value attribute.
-   * @param The new value attribute
+   * @brief Setter of the value attribute
+   * @param value The new value attribute
    */
   virtual void set_value(const T& value);
 
@@ -78,13 +80,16 @@ class Parameter : public ParameterInterface {
   void initialize() override;
 
   /**
-   * @brief Overload the ostream operator for printing.
-   * @param os The ostream to append the string representing the State to
-   * @param parameter The Parameter to print
+   * @brief Overload the ostream operator for printing
+   * @param os The ostream to append the string representing the state to
+   * @param parameter The parameter to print
    * @return The appended ostream
    */
   template<typename U>
   friend std::ostream& operator<<(std::ostream& os, const Parameter<U>& parameter);
+
+private:
+  T value_;///< Value of the parameter
 };
 
 template<typename T>
@@ -105,7 +110,7 @@ Parameter<T>& Parameter<T>::operator=(const Parameter<U>& parameter) {
 
 template<typename T>
 template<typename U>
-U Parameter<T>::get_value() const {
+inline U Parameter<T>::get_value() const {
   return static_cast<U>(this->value_);
 }
 
@@ -131,11 +136,25 @@ inline void Parameter<T>::initialize() {
   this->value_ = T();
 }
 
+/**
+ * @brief Create a Parameter object that is owned by a shared_ptr
+ * @tparam T The type of the value stored in the parameter
+ * @param name The name of the parameter
+ * @param param_value The value of the parameter
+ * @return A shared_ptr that owns the newly created Parameter object
+ */
 template<typename T>
 static std::shared_ptr<Parameter<T>> make_shared_parameter(const std::string& name, const T& param_value) {
   return std::make_shared<Parameter<T>>(name, param_value);
 }
 
+/**
+ * @brief Encapsulate a parameter in a ParameterInterface pointer
+ * @param name The name of the parameter
+ * @param type The type of the parameter
+ * @param parameter_state_type The state type of the parameter, if applicable
+ * @return A ParameterInterface pointer holding a reference to a Parameter object
+ */
 [[maybe_unused]] static std::shared_ptr<ParameterInterface> make_shared_parameter_interface(
     const std::string& name, const ParameterType& type, const StateType& parameter_state_type = StateType::NONE
 ) {
@@ -179,7 +198,7 @@ static std::shared_ptr<Parameter<T>> make_shared_parameter(const std::string& na
     case ParameterType::MATRIX:
       return std::make_shared<Parameter<Eigen::MatrixXd>>(name);
     default:
-      throw exceptions::InvalidParameterException("This StateType is not supported for parameters.");
+      throw exceptions::InvalidParameterException("This ParameterType is not supported for parameters.");
   }
 }
 }// namespace state_representation
diff --git a/source/state_representation/test/tests/test_parameter.cpp b/source/state_representation/test/tests/test_parameter.cpp
@@ -130,12 +130,13 @@ TYPED_TEST_SUITE_P(ParameterTest);
 
 TYPED_TEST_P(ParameterTest, Construction) {
   for (auto const& test_case: this->test_cases_) {
-    Parameter<TypeParam> param("test");
-    EXPECT_EQ(param.get_name(), "test");
+    Parameter<TypeParam> param;
     EXPECT_EQ(param.get_parameter_type(), std::get<1>(test_case));
     EXPECT_EQ(param.get_parameter_state_type(), std::get<2>(test_case));
     EXPECT_TRUE(param.is_empty());
     EXPECT_FALSE(param);
+    param.set_name("test");
+    EXPECT_EQ(param.get_name(), "test");
     expect_values_equal(param.get_value(), TypeParam());
     ParameterInterface param_interface(param);
     EXPECT_EQ(param_interface.get_name(), param.get_name());