Address PR comments.

personalrobotics · Aug 3, 2018 · 0dbbe07 · 0dbbe07
1 parent 2b43da7
commit 0dbbe07
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Showing 5 changed files with 9 additions and 4 deletions.
diff --git a/include/aikido/control/InstantaneousTrajectoryExecutor.hpp b/include/aikido/control/InstantaneousTrajectoryExecutor.hpp
@@ -38,11 +38,11 @@ class InstantaneousTrajectoryExecutor : public TrajectoryExecutor
   std::future<void> execute(
       const trajectory::ConstTrajectoryPtr& traj) override;
 
-  // Do nothing.
+  /// Does nothing.
   void step(
       const std::chrono::system_clock::time_point& /*timepoint*/) override;
 
-  // Do nothing.
+  /// Does nothing.
   void cancel() override;
 
 private:

diff --git a/include/aikido/control/TrajectoryExecutor.hpp b/include/aikido/control/TrajectoryExecutor.hpp
@@ -4,7 +4,6 @@
 #include <chrono>
 #include <future>
 #include <set>
-#include <dart/common/Console.hpp>
 #include "aikido/common/pointers.hpp"
 #include "aikido/trajectory/Trajectory.hpp"
 

diff --git a/include/aikido/control/ros/RosTrajectoryExecutor.hpp b/include/aikido/control/ros/RosTrajectoryExecutor.hpp
@@ -58,7 +58,7 @@ class RosTrajectoryExecutor : public aikido::control::TrajectoryExecutor
   /// Regularly checks for the completion of a sent trajectory.
   void step(const std::chrono::system_clock::time_point& timepoint) override;
 
-  // \copydoc TrajectoryExecutor::cancel()
+  /// \copydoc TrajectoryExecutor::cancel()
   void cancel() override;
 
 private:

diff --git a/src/control/KinematicSimulationTrajectoryExecutor.cpp b/src/control/KinematicSimulationTrajectoryExecutor.cpp
@@ -1,4 +1,5 @@
 #include "aikido/control/KinematicSimulationTrajectoryExecutor.hpp"
+#include <dart/common/Console.hpp>
 #include <dart/common/StlHelpers.hpp>
 #include "aikido/control/TrajectoryRunningException.hpp"
 

diff --git a/src/control/ros/RosTrajectoryExecutor.cpp b/src/control/ros/RosTrajectoryExecutor.cpp
@@ -4,6 +4,7 @@
 #include "aikido/control/ros/RosTrajectoryExecutionException.hpp"
 #include "aikido/control/ros/util.hpp"
 #include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
+#include <dart/common/Console.hpp>
 
 namespace aikido {
 namespace control {
@@ -238,10 +239,14 @@ void RosTrajectoryExecutor::cancel()
   DART_UNUSED(lock); // Suppress unused variable warning.
 
   if (mInProgress)
+  {
     mGoalHandle.cancel();
+  }
   else
+  {
     dtwarn << "[RosTrajectoryExecutor::cancel] Attempting to "
            << "cancel trajectory, but no trajectory in progress.\n";
+  }
 }
 
 } // namespace ros