fix(controllers): revert ABI breaking change for control type#241
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fix(controllers): revert ABI breaking change for control type#241
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domire8
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This reverts commit b8d7f0e.
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eeberhard
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| // FIXME: this is a quick solution to prevent adding a new private attribute to the class. | ||
| // The joint_state is initialized shortly before the interfaces are added so it can be used as a proxy. | ||
| if (joint_state_.get_name() == hardware_name_) { |
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so to understand, this allows derived controllers to override the joint_state name if they want to modify the control type, while preventing this from happening accidentally otherwise?
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No this allows derived controllers to set the control type up until the point where the base controller configures the state and command interfaces. The joint_state is a private member and cannot be changed. The trick here is just that as soon as the joint_state_ has a name, we also know that any derived controller is not allowed to change control type anymore
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May have found a solution here
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