From e5b69defb3c7e75318e3955137c9f4fe81f4a3ee Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Thu, 22 Aug 2024 10:14:24 +0200
Subject: [PATCH] Use handle_name_ variable instead of allocating for every
 `get_name` call

---
 .../include/hardware_interface/handle.hpp       | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
index 6f919033de..07ba1cd98e 100644
--- a/hardware_interface/include/hardware_interface/handle.hpp
+++ b/hardware_interface/include/hardware_interface/handle.hpp
@@ -36,13 +36,17 @@ class Handle
   Handle(
     const std::string & prefix_name, const std::string & interface_name,
     double * value_ptr = nullptr)
-  : prefix_name_(prefix_name), interface_name_(interface_name), value_ptr_(value_ptr)
+  : prefix_name_(prefix_name),
+    interface_name_(interface_name),
+    handle_name_(prefix_name_ + "/" + interface_name_),
+    value_ptr_(value_ptr)
   {
   }
 
   explicit Handle(const InterfaceDescription & interface_description)
   : prefix_name_(interface_description.prefix_name),
-    interface_name_(interface_description.interface_info.name)
+    interface_name_(interface_description.interface_info.name),
+    handle_name_(prefix_name_ + "/" + interface_name_)
   {
     // As soon as multiple datatypes are used in HANDLE_DATATYPE
     // we need to initialize according the type passed in interface description
@@ -53,14 +57,14 @@ class Handle
   [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
   explicit Handle(const std::string & interface_name)
-  : interface_name_(interface_name), value_ptr_(nullptr)
+  : interface_name_(interface_name), handle_name_("/" + interface_name_), value_ptr_(nullptr)
   {
   }
 
   [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
   explicit Handle(const char * interface_name)
-  : interface_name_(interface_name), value_ptr_(nullptr)
+  : interface_name_(interface_name), handle_name_("/" + interface_name_), value_ptr_(nullptr)
   {
   }
 
@@ -77,12 +81,12 @@ class Handle
   /// Returns true if handle references a value.
   inline operator bool() const { return value_ptr_ != nullptr; }
 
-  const std::string get_name() const { return prefix_name_ + "/" + interface_name_; }
+  const std::string & get_name() const { return handle_name_; }
 
   const std::string & get_interface_name() const { return interface_name_; }
 
   [[deprecated(
-    "Replaced by get_name method, which is semantically more correct")]] const std::string
+    "Replaced by get_name method, which is semantically more correct")]] const std::string &
   get_full_name() const
   {
     return get_name();
@@ -111,6 +115,7 @@ class Handle
 protected:
   std::string prefix_name_;
   std::string interface_name_;
+  std::string handle_name_;
   HANDLE_DATATYPE value_;
   // BEGIN (Handle export change): for backward compatibility
   // TODO(Manuel) redeclare as HANDLE_DATATYPE * value_ptr_ if old functionality is removed