Rename output port accessors (which had previously called themselves …

…input ports)
LwinMoeAung · Apr 9, 2018 · f350df0 · f350df0
1 parent be01cd6
commit f350df0
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Showing 5 changed files with 6 additions and 6 deletions.
diff --git a/examples/kuka_iiwa_arm/dev/box_rotation/iiwa_box_simulation.cc b/examples/kuka_iiwa_arm/dev/box_rotation/iiwa_box_simulation.cc
@@ -248,7 +248,7 @@ int DoMain() {
   builder.Connect(iiwa_command_sub->get_output_port(),
                   iiwa_command_receiver->get_input_port(0));
 
-  builder.Connect(iiwa_command_receiver->get_output_port(0),
+  builder.Connect(iiwa_command_receiver->get_commanded_state_output_port(),
                   model->get_input_port_iiwa_state_command());
 
   builder.Connect(iiwa_zero_acceleration_source->get_output_port(),

diff --git a/examples/kuka_iiwa_arm/dev/pick_and_place/lcm_plant.cc b/examples/kuka_iiwa_arm/dev/pick_and_place/lcm_plant.cc
@@ -84,7 +84,7 @@ LcmPlant::LcmPlant(
     // Export iiwa command input port.
     input_port_iiwa_command_.push_back(
         builder.ExportInput(iiwa_command_receiver->get_input_port(0)));
-    builder.Connect(iiwa_command_receiver->get_output_port(0),
+    builder.Connect(iiwa_command_receiver->get_commanded_state_output_port(),
                     iiwa_and_wsg_plant_->get_input_port_iiwa_state_command(i));
 
     // lcmt_iiwa_command does not include a reference acceleration, so use a

diff --git a/examples/kuka_iiwa_arm/iiwa_lcm.h b/examples/kuka_iiwa_arm/iiwa_lcm.h
@@ -39,12 +39,12 @@ class IiwaCommandReceiver : public systems::LeafSystem<double> {
   void set_initial_position(systems::Context<double>* context,
                             const Eigen::Ref<const VectorX<double>> x) const;
 
-  const systems::OutputPort<double>& get_commanded_state_input_port()
+  const systems::OutputPort<double>& get_commanded_state_output_port()
       const {
     return this->get_output_port(0);
   }
 
-  const systems::OutputPort<double>& get_commanded_torque_input_port()
+  const systems::OutputPort<double>& get_commanded_torque_output_port()
       const {
     return this->get_output_port(1);
   }

diff --git a/examples/kuka_iiwa_arm/iiwa_wsg_simulation.cc b/examples/kuka_iiwa_arm/iiwa_wsg_simulation.cc
@@ -187,7 +187,7 @@ int DoMain() {
 
   builder.Connect(iiwa_command_sub->get_output_port(),
                   iiwa_command_receiver->get_input_port(0));
-  builder.Connect(iiwa_command_receiver->get_output_port(0),
+  builder.Connect(iiwa_command_receiver->get_commanded_state_output_port(),
                   model->get_input_port_iiwa_state_command());
   builder.Connect(iiwa_zero_acceleration_source->get_output_port(),
                   model->get_input_port_iiwa_acceleration_command());

diff --git a/examples/kuka_iiwa_arm/kuka_simulation.cc b/examples/kuka_iiwa_arm/kuka_simulation.cc
@@ -126,7 +126,7 @@ int DoMain() {
 
   base_builder->Connect(command_sub->get_output_port(),
                         command_receiver->get_input_port(0));
-  base_builder->Connect(command_receiver->get_output_port(0),
+  base_builder->Connect(command_receiver->get_commanded_state_output_port(),
                         controller->get_input_port_desired_state());
   base_builder->Connect(plant->get_output_port(0),
                         status_sender->get_state_input_port());