fix: replace old-style type access with the new style

rock-control · Dec 3, 2021 · 4f40427 · 4f40427
1 parent d1a467c
commit 4f40427
Show file tree

Hide file tree

Showing 3 changed files with 36 additions and 35 deletions.
diff --git a/test/test_thruster_feedback.rb b/test/test_thruster_feedback.rb
@@ -97,7 +97,7 @@
     sample = thrusters_feedback.cmd_in.new_sample
 
     # 3 thrusters inputs were sent and 2 are expected
-    thruster = Types::Base::JointState.new
+    thruster = Types.base.JointState.zero
     thruster.effort = 3
     sample.elements = [thruster, thruster, thruster]
     cmd_in.write sample
@@ -115,7 +115,7 @@
     sample = thrusters_feedback.cmd_in.new_sample
 
     # the effort field was not set
-    thruster = Types::Base::JointState.new
+    thruster = Types.base.JointState.zero
     sample.elements = [thruster, thruster]
     cmd_in.write sample
 
@@ -131,9 +131,9 @@
     thrusters_feedback.start
 
     sample = thrusters_feedback.cmd_in.new_sample
-      
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.speed = 457
     thruster2.speed = 789
     sample.elements = [thruster1, thruster2]
@@ -156,9 +156,9 @@
     thrusters_feedback.start
 
     sample = thrusters_feedback.cmd_in.new_sample
-      
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.speed = -530
     thruster2.speed = -650
     sample.elements = [thruster1, thruster2]
@@ -180,9 +180,9 @@
     thrusters_feedback.start
 
     sample = thrusters_feedback.cmd_in.new_sample
-      
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.raw = 25
     thruster2.raw = 17
     sample.elements = [thruster1, thruster2]
@@ -204,8 +204,9 @@
     thrusters_feedback.start
 
     sample = thrusters_feedback.cmd_in.new_sample
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.raw = -49
     thruster2.raw = -31
     sample.elements = [thruster1, thruster2]

diff --git a/test/test_thruster_force_2_body_effort.rb b/test/test_thruster_force_2_body_effort.rb
@@ -18,13 +18,13 @@
     thruster_force_2_body_effort.start
 
     sample = thruster_force_2_body_effort.thruster_forces.new_sample
-      
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
-    thruster3 = Types::Base::JointState.new
-    thruster4 = Types::Base::JointState.new
-    thruster5 = Types::Base::JointState.new
-    thruster6 = Types::Base::JointState.new
+
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
+    thruster3 = Types.base.JointState.zero
+    thruster4 = Types.base.JointState.zero
+    thruster5 = Types.base.JointState.zero
+    thruster6 = Types.base.JointState.zero
     thruster1.effort = 30
     thruster2.effort = 30
     thruster3.effort = 0
@@ -53,12 +53,12 @@
 
     sample = thruster_force_2_body_effort.thruster_forces.new_sample
 
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
-    thruster3 = Types::Base::JointState.new
-    thruster4 = Types::Base::JointState.new
-    thruster5 = Types::Base::JointState.new
-    thruster6 = Types::Base::JointState.new
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
+    thruster3 = Types.base.JointState.zero
+    thruster4 = Types.base.JointState.zero
+    thruster5 = Types.base.JointState.zero
+    thruster6 = Types.base.JointState.zero
     thruster1.effort = 0
     thruster2.effort = 0
     thruster3.effort = 25

diff --git a/test/test_thruster_input.rb b/test/test_thruster_input.rb
@@ -115,7 +115,7 @@
     sample = thrusters_input.cmd_in.new_sample
 
     # the effort field was not set
-    thruster = Types::Base::JointState.new
+    thruster = Types.base.JointState.zero
     sample.elements = [thruster, thruster]
     cmd_in.write sample
 
@@ -132,8 +132,8 @@
 
     sample = thrusters_input.cmd_in.new_sample
 
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.effort = 37
     thruster2.effort = 43
     sample.elements = [thruster1, thruster2]
@@ -157,8 +157,8 @@
 
     sample = thrusters_input.cmd_in.new_sample
 
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.effort = -15
     thruster2.effort = -7
     sample.elements = [thruster1, thruster2]
@@ -181,8 +181,8 @@
 
     sample = thrusters_input.cmd_in.new_sample
 
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.effort = 17
     thruster2.effort = 3
     sample.elements = [thruster1, thruster2]
@@ -205,8 +205,8 @@
 
     sample = thrusters_input.cmd_in.new_sample
 
-    thruster1 = Types::Base::JointState.new
-    thruster2 = Types::Base::JointState.new
+    thruster1 = Types.base.JointState.zero
+    thruster2 = Types.base.JointState.zero
     thruster1.effort = -49
     thruster2.effort = -31
     sample.elements = [thruster1, thruster2]