From fe6cab0a7b91201c5c19bf602bb5578d99856150 Mon Sep 17 00:00:00 2001
From: iori <ik0313@gmail.com>
Date: Thu, 23 Jul 2015 17:49:55 +0900
Subject: [PATCH] [TwoDofController] Move error_prefix to
 TwoDofControllerInterface

---
 rtc/Stabilizer/TwoDofController.cpp | 8 ++++----
 rtc/Stabilizer/TwoDofController.h   | 5 +++--
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/rtc/Stabilizer/TwoDofController.cpp b/rtc/Stabilizer/TwoDofController.cpp
index f76c734fdf4..e9762d5054c 100644
--- 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
index 0c303771b97..70aa71abe96 100644
--- 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