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Changed const to constexpr. #45

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Changed const to constexpr. #45

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6 changes: 3 additions & 3 deletions reflex_driver/src/reflex_hand.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,9 +54,9 @@ namespace reflex_hand
static const uint16_t DYN_MIN_RAW = 0;
static const uint16_t DYN_MAX_RAW = 4095;
static const uint16_t DYN_MIN_RAW_WRAPPED = 16383; // For checking negative wraps
static const float DYN_POS_SCALE = (4 * 2 * 3.141596) / 4095; // Assuming resolution divider of 4
static const float DYN_VEL_SCALE = 0.01194; // rad/s for every velocity command -- http://support.robotis.com/en/product/dynamixel/mx_series/mx-28.htm#Actuator_Address_20
static const float ENC_SCALE = (2 * 3.141596) / 16383;
static constexpr float DYN_POS_SCALE = (4 * 2 * 3.141596) / 4095; // Assuming resolution divider of 4
static constexpr float DYN_VEL_SCALE = 0.01194; // rad/s for every velocity command -- http://support.robotis.com/en/product/dynamixel/mx_series/mx-28.htm#Actuator_Address_20
static constexpr float ENC_SCALE = (2 * 3.141596) / 16383;
enum ControlMode{CM_IDLE = 0, CM_VELOCITY = 1, CM_POSITION = 2};

typedef boost::function<void(const ReflexHandState * const)> StateCallback;
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8 changes: 4 additions & 4 deletions reflex_driver2/src/reflex_hand.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,15 +72,15 @@ namespace reflex_hand
static const uint16_t DYN_MIN_RAW_WRAPPED = 16383;

// Assuming resolution divider of 4
static const float DYN_POS_SCALE = (4 * 2 * 3.141596) / 4095;
static constexpr float DYN_POS_SCALE = (4 * 2 * 3.141596) / 4095;

/*
rad/s for every velocity command --
http://support.robotis.com/en/product/dynamixel
/mx_series/mx-28.htm#Actuator_Address_20
*/
static const float DYN_VEL_SCALE = 0.01194;
static const float ENC_SCALE = (2 * 3.141596) / 16383;
static constexpr float DYN_VEL_SCALE = 0.01194;
static constexpr float ENC_SCALE = (2 * 3.141596) / 16383;

enum ControlMode{ CM_IDLE = 0,
CM_VELOCITY = 1,
Expand Down Expand Up @@ -116,4 +116,4 @@ namespace reflex_hand
};
}

#endif
#endif