API-suggestions¶

• incomplete documentation: Buffer->get(), Buffer->tryGet() - where is the difference
• improve naming for factory-methods, e.g. JointAngles::fromRad can be renamed in JointAnlges::createFromRad
• some questions concerning the get() and publish() logic of CCA::Ports:
  • get():
    • Why do I get a pointer to the buffer's content? Wouldnt it be more correct to - at least - get a pointer to a const object? Because otherwise I am allowed to manipulate the buffer's content.
    • Even if i get a pointer to a const object, there is still the problem, that buffer's content can change while I am using it and I will not be informed about that change
  • publish()"
    • same for the const correctness: why dont I publish a pointer to a const object
  • As a user, I would prefer to not work with pointers
    • problems amongst the mentioned ones:
      • it forces me to work with shared_pointers even if it's not necessary at all
      • it can produce overhead
• print-methods for DTOs: plz do not append a newline() command at the end of printing a DTO (see e.g. JointAngles.print()). this is confusing, because the 'user' himself wants determine a when a new line starts, or he wants to print two of them in one line what is not possible with your current printing style