rename the variable for consistency

ros-controls · Oct 8, 2024 · 6030cbc · 6030cbc
1 parent c48e3c7
commit 6030cbc
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/controller_interface/include/controller_interface/chainable_controller_interface.hpp b/controller_interface/include/controller_interface/chainable_controller_interface.hpp
@@ -147,7 +147,7 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   // END
   std::vector<hardware_interface::CommandInterface::SharedPtr> ordered_reference_interfaces_;
   std::unordered_map<std::string, hardware_interface::CommandInterface::SharedPtr>
-    reference_interfaces_ptrs_;
+    exported_reference_interfaces_;
 
 private:
   /// A flag marking if a chainable controller is currently preceded by another controller.

diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -151,7 +151,7 @@ ChainableControllerInterface::export_reference_interfaces()
       std::make_shared<hardware_interface::CommandInterface>(std::move(interface));
     const auto interface_name = reference_interface->get_interface_name();
     // check the exported interface name is unique
-    auto [it, succ] = reference_interfaces_ptrs_.insert({interface_name, reference_interface});
+    auto [it, succ] = exported_reference_interfaces_.insert({interface_name, reference_interface});
     // either we have name duplicate which we want to avoid under all circumstances since interfaces
     // need to be uniquely identify able or something else really went wrong. In any case abort and
     // inform cm by throwing exception
@@ -174,11 +174,12 @@ ChainableControllerInterface::export_reference_interfaces()
     reference_interfaces_ptrs_vec.push_back(reference_interface);
   }
 
-  if (reference_interfaces_ptrs_.size() != ref_interface_size)
+  if (exported_reference_interfaces_.size() != ref_interface_size)
   {
     std::string error_msg =
-      "The internal storage for reference ptrs 'reference_interfaces_ptrs_' variable has size '" +
-      std::to_string(reference_interfaces_ptrs_.size()) +
+      "The internal storage for exported reference ptrs 'exported_reference_interfaces_' variable "
+      "has size '" +
+      std::to_string(exported_reference_interfaces_.size()) +
       "', but it is expected to have the size '" + std::to_string(ref_interface_size) +
       "' equal to the number of exported reference interfaces. Please correct and recompile the "
       "controller with name '" +