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URJala · Jul 9, 2024 · 89afe6d · 89afe6d
1 parent d7f1fc3
commit 89afe6d
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Showing 2 changed files with 24 additions and 12 deletions.
diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h
@@ -128,15 +128,25 @@ class UrDriver
    * \param force_mode_damping The damping parameter used when the robot is in force mode, range [0,1]
    * \param force_mode_gain_scaling Scales the gain used when the robot is in force mode, range [0,2] (only e-series)
    */
-  [[deprecated("Specifying the force mode damping factor and the force mode gain scaling factor at driver creation has "
+  [[deprecated(
+    "Specifying the force mode damping factor and the force mode gain scaling factor at driver creation has "
                "been deprecated. Force mode parameters should be specified with each activiation of force mode, and "
-               "can be set in the function call to start force mode.")]]
-  UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
-           const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
-           std::unique_ptr<ToolCommSetup> tool_comm_setup, const uint32_t reverse_port,
-           const uint32_t script_sender_port, int servoj_gain, double servoj_lookahead_time, bool non_blocking_read,
-           const std::string& reverse_ip, const uint32_t trajectory_port, const uint32_t script_command_port,
-           double force_mode_damping, double force_mode_gain_scaling = 0.5);
+               "can be set in the function call to start force mode.")]] UrDriver(const std::string& robot_ip, 
+                                                                                  const std::string& script_file, 
+                                                                                  const std::string& output_recipe_file,
+                                                                                  const std::string& input_recipe_file, 
+                                                                                  std::function<void(bool)> handle_program_state, 
+                                                                                  bool headless_mode,
+                                                                                  std::unique_ptr<ToolCommSetup> tool_comm_setup, 
+                                                                                  const uint32_t reverse_port,
+                                                                                  const uint32_t script_sender_port, 
+                                                                                  int servoj_gain, double servoj_lookahead_time, 
+                                                                                  bool non_blocking_read,
+                                                                                  const std::string& reverse_ip, 
+                                                                                  const uint32_t trajectory_port, 
+                                                                                  const uint32_t script_command_port,
+                                                                                  double force_mode_damping, 
+                                                                                  double force_mode_gain_scaling = 0.5);
 
   /*!
    * \brief Constructs a new UrDriver object.
@@ -439,9 +449,9 @@ class UrDriver
    * \returns True, if the write was performed successfully, false otherwise.
    */
   [[deprecated("Starting force mode without specifying the force mode damping factor and gain scale factor has been "
-               "deprecated. These values should be given with each function call.")]]
-  bool startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector, const vector6d_t& wrench,
-                      const unsigned int type, const vector6d_t& limits);
+               "deprecated. These values should be given with each function call.")]] bool 
+  startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector, const vector6d_t& wrench,
+                 const unsigned int type, const vector6d_t& limits);
 
   /*!
    * \brief Stop force mode and put the robot into normal operation mode.

diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp
@@ -142,7 +142,9 @@ urcl::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_
     }
     begin_replace << "set_tool_voltage("
                   << static_cast<std::underlying_type<ToolVoltage>::type>(tool_comm_setup->getToolVoltage()) << ")\n";
-    begin_replace << "set_tool_communication(" << "True" << ", " << tool_comm_setup->getBaudRate() << ", "
+    begin_replace << "set_tool_communication(" 
+                  << "True" 
+                  << ", " << tool_comm_setup->getBaudRate() << ", "
                   << static_cast<std::underlying_type<Parity>::type>(tool_comm_setup->getParity()) << ", "
                   << tool_comm_setup->getStopBits() << ", " << tool_comm_setup->getRxIdleChars() << ", "
                   << tool_comm_setup->getTxIdleChars() << ")";