Declare wraparound_joint outside of trajectory class

ros-controls · Nov 19, 2023 · f6231f2 · f6231f2
1 parent f90c2af
commit f6231f2
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 13 deletions.
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
@@ -58,18 +58,6 @@ class Trajectory
     const trajectory_msgs::msg::JointTrajectoryPoint & current_point,
     const std::vector<bool> & joints_angle_wraparound = std::vector<bool>());
 
-  /**
-   * \param current_position The current position given from the controller, which will be adapted.
-   * \param next_position Next position from which to compute the wraparound offset, i.e.,
-   *      the first trajectory point
-   * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that
-   * wrap around (ie. is continuous).
-   */
-  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
-  void wraparound_joint(
-    std::vector<double> & current_position, const std::vector<double> next_position,
-    const std::vector<bool> & joints_angle_wraparound);
-
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   void update(std::shared_ptr<trajectory_msgs::msg::JointTrajectory> joint_trajectory);
 
@@ -206,6 +194,17 @@ inline std::vector<size_t> mapping(const T & t1, const T & t2)
   return mapping_vector;
 }
 
+/**
+ * \param current_position The current position given from the controller, which will be adapted.
+ * \param next_position Next position from which to compute the wraparound offset, i.e.,
+ *      the first trajectory point
+ * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that
+ * wrap around (ie. is continuous).
+ */
+void wraparound_joint(
+  std::vector<double> & current_position, const std::vector<double> next_position,
+  const std::vector<bool> & joints_angle_wraparound);
+
 }  // namespace joint_trajectory_controller
 
 #endif  // JOINT_TRAJECTORY_CONTROLLER__TRAJECTORY_HPP_
diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp
@@ -57,7 +57,7 @@ void Trajectory::set_point_before_trajectory_msg(
     joints_angle_wraparound);
 }
 
-void Trajectory::wraparound_joint(
+void wraparound_joint(
   std::vector<double> & current_position, const std::vector<double> next_position,
   const std::vector<bool> & joints_angle_wraparound)
 {