Make tmp driver and interfaces members of the class and fix names

robotology · Jan 24, 2024 · a9b26df · a9b26df
1 parent ad31d2e
commit a9b26df
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Showing 2 changed files with 7 additions and 10 deletions.
diff --git a/src/imu/imu.cpp b/src/imu/imu.cpp
@@ -64,10 +64,6 @@ bool Imu::setup(yarp::os::Property& property)
     yarp::os::Bottle axesNames;
     yarp::os::Bottle & axesList = axesNames.addList();
 
-    yarp::dev::PolyDriver tmpDriver;
-    yarp::dev::IEncoders* tmpEncoders;
-    yarp::dev::IAxisInfo* tmpAxis;
-
     yarp::os::Property tmpOptions;
 
     int tmpAxisNum;
@@ -116,10 +112,10 @@ bool Imu::setup(yarp::os::Property& property)
     for (int i = 0; i < axes; i++)
     {
         ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iaxes->getAxisName(i, axisName), "Cannot get the name of controlled axes");
-        axis.push_back(axisName);
+        axesVec.push_back(axisName);
     }
 
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(model.loadReducedModelFromFile(modelAbsolutePath.c_str(), axis), Asserter::format("Cannot load model from %s", modelAbsolutePath.c_str()));
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(model.loadReducedModelFromFile(modelAbsolutePath.c_str(), axesVec), Asserter::format("Cannot load model from %s", modelAbsolutePath.c_str()));
     kinDynComp.loadRobotModel(model.model());
 
     iDynTree::Vector3 baseLinkOrientationRad;
@@ -178,9 +174,6 @@ void Imu::run()
     double minLim;
     double maxLim;
 
-    yarp::dev::PolyDriver tmpDriver;
-    yarp::dev::IEncoders* tmpEncoders;
-    yarp::dev::IAxisInfo* tmpAxis;
     yarp::os::Property tmpOptions;
 
     int tmpAxisNum;

diff --git a/src/imu/imu.h b/src/imu/imu.h
@@ -66,14 +66,18 @@ class Imu : public yarp::robottestingframework::TestCase {
         yarp::dev::IAxisInfo* iaxes;
         yarp::dev::IControlLimits* ilim;
 
+        yarp::dev::PolyDriver tmpDriver;
+        yarp::dev::IEncoders* tmpEncoders;
+        yarp::dev::IAxisInfo* tmpAxis;
+
         yarp::os::BufferedPort <yarp::os::Bottle> outputPort;
         yarp::sig::Vector rpyValues;
         yarp::sig::Vector positions;
         yarp::sig::Vector velocities;
 
         int axes;
         double timestamp;
-        std::vector<std::string> axis;
+        std::vector<std::string> axesVec;
 
         iDynTree::ModelLoader model;
         iDynTree::KinDynComputations kinDynComp;