From b201a59972e72499e55dd754708d36e74393dd3a Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 8 Jan 2024 22:29:02 +0000 Subject: [PATCH] Make std::string comparison more readable --- hardware_interface/src/component_parser.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp index 308d03b4dd3..d7ac3a56139 100644 --- a/hardware_interface/src/component_parser.cpp +++ b/hardware_interface/src/component_parser.cpp @@ -318,7 +318,7 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it component.type = component_it->Name(); component.name = get_attribute_value(component_it, kNameAttribute, component.type); - if (!component.type.compare(kJointTag)) + if (std::string(kJointTag) == component.type) { try { @@ -548,7 +548,7 @@ HardwareInfo parse_resource_from_xml( const auto * ros2_control_child_it = ros2_control_it->FirstChildElement(); while (ros2_control_child_it) { - if (!std::string(kHardwareTag).compare(ros2_control_child_it->Name())) + if (std::string(kHardwareTag) == ros2_control_child_it->Name()) { const auto * type_it = ros2_control_child_it->FirstChildElement(kPluginNameTag); hardware.hardware_plugin_name = @@ -559,19 +559,19 @@ HardwareInfo parse_resource_from_xml( hardware.hardware_parameters = parse_parameters_from_xml(params_it); } } - else if (!std::string(kJointTag).compare(ros2_control_child_it->Name())) + else if (std::string(kJointTag) == ros2_control_child_it->Name()) { hardware.joints.push_back(parse_component_from_xml(ros2_control_child_it)); } - else if (!std::string(kSensorTag).compare(ros2_control_child_it->Name())) + else if (std::string(kSensorTag) == ros2_control_child_it->Name()) { hardware.sensors.push_back(parse_component_from_xml(ros2_control_child_it)); } - else if (!std::string(kGPIOTag).compare(ros2_control_child_it->Name())) + else if (std::string(kGPIOTag) == ros2_control_child_it->Name()) { hardware.gpios.push_back(parse_complex_component_from_xml(ros2_control_child_it)); } - else if (!std::string(kTransmissionTag).compare(ros2_control_child_it->Name())) + else if (std::string(kTransmissionTag) == ros2_control_child_it->Name()) { hardware.transmissions.push_back(parse_transmission_from_xml(ros2_control_child_it)); } @@ -611,7 +611,7 @@ std::vector parse_control_resources_from_urdf(const std::string & // Find robot tag const tinyxml2::XMLElement * robot_it = doc.RootElement(); - if (std::string(kRobotTag).compare(robot_it->Name())) + if (std::string(kRobotTag) != robot_it->Name()) { throw std::runtime_error("the robot tag is not root element in URDF"); }