From 7ffcf4cd677855717b8e7fa508aefc33e1b4e9ee Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 15 Sep 2021 19:18:05 -0700
Subject: [PATCH] Fix Windows build (#1033)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../JointPositionController.cc                        | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc
index 8692d9b8db..00d3cdced6 100644
--- a/src/systems/joint_position_controller/JointPositionController.cc
+++ b/src/systems/joint_position_controller/JointPositionController.cc
@@ -66,12 +66,13 @@ class ignition::gazebo::systems::JointPositionControllerPrivate
   public: unsigned int jointIndex = 0u;
 
   /// \brief Operation modes
-  enum OperationMode {
+  enum OperationMode
+  {
     /// \brief Use PID to achieve positional control
     PID,
     /// \brief Bypass PID completely. This means the joint will move to that
     /// position bypassing the physics engine.
-    ABSOLUTE
+    ABS
   };
 
   /// \brief Joint position mode
@@ -162,7 +163,7 @@ void JointPositionController::Configure(const Entity &_entity,
     if (useVelocityCommands)
     {
       this->dataPtr->mode =
-        JointPositionControllerPrivate::OperationMode::ABSOLUTE;
+        JointPositionControllerPrivate::OperationMode::ABS;
     }
   }
 
@@ -270,9 +271,9 @@ void JointPositionController::PreUpdate(
             this->dataPtr->jointPosCmd;
   }
 
-  // Check if the mode is ABSOLUTE
+  // Check if the mode is ABS
   if (this->dataPtr->mode ==
-    JointPositionControllerPrivate::OperationMode::ABSOLUTE)
+    JointPositionControllerPrivate::OperationMode::ABS)
   {
     // Calculate target velcity
     double targetVel = 0;