Rename updateGains method

ros-controls · Dec 10, 2023 · b9315a7 · b9315a7
1 parent 2bdc162
commit b9315a7
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/..._controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp b/..._controller_plugins/include/joint_trajectory_controller_plugins/pid_trajectory_plugin.hpp
@@ -72,7 +72,7 @@ class PidTrajectoryPlugin : public TrajectoryControllerBase
   /**
    * @brief parse PID gains from parameter struct
    */
-  void updateGains();
+  void parseGains();
 
   // number of command joints
   size_t num_cmd_joints_;

diff --git a/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp b/joint_trajectory_controller_plugins/src/pid_trajectory_plugin.cpp
@@ -63,7 +63,7 @@ bool PidTrajectoryPlugin::configure()
 bool PidTrajectoryPlugin::activate()
 {
   params_ = param_listener_->get_params();
-  updateGains();
+  parseGains();
   return true;
 };
 
@@ -72,13 +72,13 @@ bool PidTrajectoryPlugin::updateGainsRT()
   if (param_listener_->is_old(params_))
   {
     params_ = param_listener_->get_params();
-    updateGains();
+    parseGains();
   }
 
   return true;
 }
 
-void PidTrajectoryPlugin::updateGains()
+void PidTrajectoryPlugin::parseGains()
 {
   for (size_t i = 0; i < num_cmd_joints_; ++i)
   {