[TwoDofController] Move error_prefix to TwoDofControllerInterface

snozawa · Jul 23, 2015 · fe6cab0 · fe6cab0
1 parent 1e2d92e
commit fe6cab0
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/rtc/Stabilizer/TwoDofController.cpp b/rtc/Stabilizer/TwoDofController.cpp
@@ -11,6 +11,10 @@
 #include "TwoDofController.h"
 #include <iostream>
 
+void TwoDofControllerInterface::setErrorPrefix(const std::string& _error_prefix) {
+ error_prefix = _error_prefix;
+}
+
 TwoDofController::TwoDofController() {
  param = TwoDofController::TwoDofControllerParam(); // use default constructor
  integrator = Integrator(0.0, 0.0);
@@ -80,10 +84,6 @@ double TwoDofController::update (double _x, double _xd) {
 
 }
 
-void TwoDofController::setErrorPrefix(const std::string& _error_prefix) {
- error_prefix = _error_prefix;
-}
-
 // for compatiblity of Stabilizer 
 TwoDofController::TwoDofController(double _ke, double _tc, double _dt, unsigned int _range) {
  param.ke = _ke; param.tc = _tc; param.dt = _dt;

diff --git a/rtc/Stabilizer/TwoDofController.h b/rtc/Stabilizer/TwoDofController.h
@@ -23,6 +23,9 @@ class TwoDofControllerInterface {
  virtual void setup() = 0; // setup parameters
  virtual bool getParameter() = 0; // get prameter of controller
  virtual double update(double _x, double _xd) = 0; // calculate input from current value(_x) and target value(_xd)
+ void setErrorPrefix(const std::string& _error_prefix); // set prefix string for error message
+protected:
+ std::string error_prefix;
 };
 
 
@@ -51,7 +54,6 @@ class TwoDofController : public TwoDofControllerInterface {
  double update(double _x, double _xd);
  bool getParameter();
  bool getParameter(TwoDofControllerParam &_p);
- void setErrorPrefix(const std::string& _error_prefix);
 
  // for compatibility of Stabilizer. TODO: replace to new parameter argument
  TwoDofController(double _ke, double _tc, double _dt, unsigned int _range = 0);
@@ -60,7 +62,6 @@ class TwoDofController : public TwoDofControllerInterface {
 private:
  TwoDofControllerParam param;
  Integrator integrator; // integrated (xd - x)
- std::string error_prefix;
 };
 
 #endif // TWO_DOF_CONTROLLER_H