Adapt CamelCase headers and update to base::commmands::Motion2D

Author: 2maz

src/RockControl.cpp

@@ -35,7 +35,7 @@ void RockControl::constrainAngle(double& angle)
  * Rotation should be between PI an -PI.
  * Translation should be between 10 and -10.
  */
-void RockControl::constrainValues(base::MotionCommand2D& motionCommand)
+void RockControl::constrainValues(base::commands::Motion2D& motionCommand)
 {
     if (motionCommand.rotation > M_PI)
         motionCommand.rotation = M_PI;
@@ -48,9 +48,9 @@ void RockControl::constrainValues(base::MotionCommand2D& motionCommand)
         motionCommand.translation = -10;
 }
 
-base::samples::RigidBodyState RockControl::computeNextPose(const double &deltaTime, const base::MotionCommand2D &inputCommand)
+base::samples::RigidBodyState RockControl::computeNextPose(const double &deltaTime, const base::commands::Motion2D &inputCommand)
 {
-    base::MotionCommand2D command = inputCommand;
+    base::commands::Motion2D command = inputCommand;
     constrainValues(command);
 
         //translation and rotation relativ to the task period

src/RockControl.hpp

@@ -1,8 +1,8 @@
 #ifndef ROCKCONTROL_H
 #define ROCKCONTROL_H
 
-#include <base/motion_command.h>
-#include <base/samples/rigid_body_state.h>
+#include <base/commands/Motion2D.hpp>
+#include <base/samples/RigidBodyState.hpp>
 
 namespace rock_tutorial {
 
@@ -13,14 +13,14 @@ class RockControl
     RockControl();
     virtual ~RockControl();
 
-    base::samples::RigidBodyState computeNextPose(const double &deltaTime, const base::MotionCommand2D &command);
+    base::samples::RigidBodyState computeNextPose(const double &deltaTime, const base::commands::Motion2D &command);
 
     void setRockRadius(double r) { rockRadius = r; }
     double getRockRadius() { return rockRadius; }
 
 private:
     void constrainAngle(double& angle);
-    void constrainValues(base::MotionCommand2D& motionCommand);
+    void constrainValues(base::commands::Motion2D& motionCommand);
     base::samples::RigidBodyState currentPose;
     double currentHeading;
     double currentPitch;