use unordered map and adjust tests

ros-controls · Jan 29, 2024 · a3ad478 · a3ad478
1 parent 37d834b
commit a3ad478
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Showing 4 changed files with 200 additions and 97 deletions.
diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -16,7 +16,6 @@
 #define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
 
 #include <limits>
-#include <map>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -356,8 +355,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 
 protected:
   HardwareInfo info_;
-  std::map<std::string, InterfaceDescription> joint_state_interfaces_;
-  std::map<std::string, InterfaceDescription> joint_command_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_command_interfaces_;
 
   std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
   std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;

diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -16,7 +16,6 @@
 #define HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
 
 #include <limits>
-#include <map>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -224,7 +223,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 protected:
   HardwareInfo info_;
 
-  std::map<std::string, InterfaceDescription> sensor_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> sensor_state_interfaces_;
 
   std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
 

diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -16,7 +16,6 @@
 #define HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
 
 #include <limits>
-#include <map>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -396,13 +395,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
 protected:
   HardwareInfo info_;
-  std::map<std::string, InterfaceDescription> joint_state_interfaces_;
-  std::map<std::string, InterfaceDescription> joint_command_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_command_interfaces_;
 
-  std::map<std::string, InterfaceDescription> sensor_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> sensor_state_interfaces_;
 
-  std::map<std::string, InterfaceDescription> gpio_state_interfaces_;
-  std::map<std::string, InterfaceDescription> gpio_command_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> gpio_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> gpio_command_interfaces_;
 
   std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
   std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;