Format

include/sot/core/clamp-workspace.hh

@@ -62,8 +62,10 @@ public:
 
   void update(int time);
 
-  virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res, int time);
-  virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res,
+                                              int time);
+  virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res,
+                                                 int time);
   virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, int time);
 
   virtual void display(std::ostream &) const;

include/sot/core/com-freezer.hh

@@ -62,7 +62,8 @@ public: /* --- SIGNAL --- */
   dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> freezedCoMSOUT;
 
 public: /* --- FUNCTION --- */
-  dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM, const int &time);
+  dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM,
+                                          const int &time);
 
 public: /* --- PARAMS --- */
   virtual void display(std::ostream &os) const;

include/sot/core/control-gr.hh

@@ -39,7 +39,6 @@
 namespace dynamicgraph {
 namespace sot {
 
-
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
 /* --------------------------------------------------------------------- */

include/sot/core/control-pd.hh

@@ -80,8 +80,10 @@ protected:
   dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
   dynamicgraph::Vector position_error_;
   dynamicgraph::Vector velocity_error_;
-  dynamicgraph::Vector &getPositionError(dynamicgraph::Vector &position_error, int t);
-  dynamicgraph::Vector &getVelocityError(dynamicgraph::Vector &velocity_error, int t);
+  dynamicgraph::Vector &getPositionError(dynamicgraph::Vector &position_error,
+                                         int t);
+  dynamicgraph::Vector &getVelocityError(dynamicgraph::Vector &velocity_error,
+                                         int t);
 };
 
 } // namespace sot

include/sot/core/device.hh

@@ -141,8 +141,8 @@ public: /* --- SIGNALS --- */
 
 protected:
   /// Compute roll pitch yaw angles of freeflyer joint.
-  void integrateRollPitchYaw(dynamicgraph::Vector &state, const dynamicgraph::Vector &control,
-                             double dt);
+  void integrateRollPitchYaw(dynamicgraph::Vector &state,
+                             const dynamicgraph::Vector &control, double dt);
   /// Store Position of free flyer joint
   MatrixHomogeneous ffPose_;
   /// Compute the new position, from the current control.

include/sot/core/exp-moving-avg.hh

@@ -18,7 +18,6 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <sot/core/config.hh>
 
-
 namespace dynamicgraph {
 namespace sot {
 

include/sot/core/feature-1d.hh

@@ -98,10 +98,12 @@ public:
 
   /*! \brief Compute the error between the desired value and the value itself.
    */
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
 
   /*! \brief Compute the Jacobian of the value according to the robot state.. */
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
 
   /*! @} */
 

include/sot/core/feature-abstract.hh

@@ -136,20 +136,23 @@ public:
     \par[in] time: The time at which the error is computed.
     \return The vector res with the appropriate value.
   */
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time) = 0;
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time) = 0;
 
   /*! \brief Compute the Jacobian of the error according the robot state.
 
     \par[out] res: The matrix in which the error will be written.
     \return The matrix res with the appropriate values.
   */
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time) = 0;
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time) = 0;
 
   /// Callback for signal errordotSOUT
   ///
   /// Copy components of the input signal errordotSIN defined by selection
   /// flag selectionSIN.
-  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
+  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
+                                                int time);
 
   /*! @} */
 

include/sot/core/feature-generic.hh

@@ -109,10 +109,12 @@ public:
 
   /*! \brief Compute the error between the desired value and the value itself.
    */
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
 
   /*! \brief Compute the Jacobian of the value according to the robot state.. */
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
 
   /*! @} */
 

include/sot/core/feature-joint-limits.hh

@@ -83,9 +83,12 @@ public:
 
   virtual unsigned int &getDimension(unsigned int &dim, int time);
 
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
-  dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res, const int &time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
+  dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res,
+                                       const int &time);
 
   /** Static Feature selection. */
   inline static Flags selectActuated(void);

include/sot/core/feature-line-distance.hh

@@ -75,9 +75,12 @@ public:
 
   virtual unsigned int &getDimension(unsigned int &dim, int time);
 
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
-  dynamicgraph::Vector &computeLineCoordinates(dynamicgraph::Vector &cood, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
+  dynamicgraph::Vector &computeLineCoordinates(dynamicgraph::Vector &cood,
+                                               int time);
 
   virtual void display(std::ostream &os) const;
 };

include/sot/core/feature-point6d-relative.hh

@@ -60,7 +60,8 @@ protected:
   /* --- SIGNALS ------------------------------------------------------------ */
 public:
   dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN;
-  dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianReferenceSIN;
+  dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
+      articularJacobianReferenceSIN;
 
   /*! dynamicgraph::Signals related to the computation of the derivative of
     the error
@@ -80,9 +81,12 @@ public:
   FeaturePoint6dRelative(const std::string &name);
   virtual ~FeaturePoint6dRelative(void) {}
 
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
+  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
+                                                int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
 
   virtual void display(std::ostream &os) const;
 

include/sot/core/feature-point6d.hh

@@ -89,9 +89,12 @@ public:
 
   virtual unsigned int &getDimension(unsigned int &dim, int time);
 
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Vector &computeErrordot(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
+  virtual dynamicgraph::Vector &computeErrordot(dynamicgraph::Vector &res,
+                                                int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
 
   /** Static Feature selection. */
   inline static Flags selectX(void) { return FLAG_LINE_1; }

include/sot/core/feature-pose.hh

@@ -120,21 +120,24 @@ public:
   virtual unsigned int &getDimension(unsigned int &dim, int time);
 
   /// Computes \f$ {}^oM^{-1}_{fa} {}^oM_{fb} \ominus {}^{fa}M^*_{fb} \f$
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
   /// Computes \f$ \frac{\partial\ominus}{\partial b} X {}^{fa}\nu^*_{fafb} \f$.
   /// There are two different cases, depending on the representation:
   /// - R3xSO3Representation: \f$ X = \left( \begin{array}{cc} I_3 & [
   /// {}^{fa}t_{fb} ] \\ 0_3 & {{}^{fa}R^*_{fb}}^T \end{array} \right) \f$
   /// - SE3Representation: \f$ X = {{}^{fa}X^*_{fb}}^{-1} \f$ (see
   /// pinocchio::SE3Base<Scalar,Options>::toActionMatrix)
-  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
+  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
+                                                int time);
   /// Computes \f$ \frac{\partial\ominus}{\partial b} Y \left( {{}^{fb}X_{jb}}
   /// {}^{jb}J_{jb} - {{}^{fb}X_{ja}} {}^{ja}J_{ja} \right) \f$. There are two
   /// different cases, depending on the representation:
   /// - R3xSO3Representation: \f$ Y = \left( \begin{array}{cc} {{}^{fa}R_{fb}} &
   /// 0_3 \\ 0_3 & I_3 \end{array} \right) \f$
   /// - SE3Representation: \f$ Y = I_6 \f$
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
 
   /** Static Feature selection. */
   inline static Flags selectX(void) { return FLAG_LINE_1; }
@@ -160,10 +163,10 @@ private:
   /// \todo Intermediate variables for internal computations
 };
 
-template < typename T >
+template <typename T>
 Vector6d convertVelocity(const MatrixHomogeneous &M,
-                                const MatrixHomogeneous &Mdes,
-                                const Vector &faNufafbDes);
+                         const MatrixHomogeneous &Mdes,
+                         const Vector &faNufafbDes);
 #if __cplusplus >= 201103L
 extern template class SOT_CORE_DLLAPI FeaturePose<SE3Representation>;
 extern template class SOT_CORE_DLLAPI FeaturePose<R3xSO3Representation>;

include/sot/core/feature-pose.hxx

@@ -41,7 +41,7 @@ template <Representation_t representation> struct LG_t {
   typedef typename boost::mpl::if_c<representation == SE3Representation, SE3_t,
                                     R3xSO3_t>::type type;
 };
-}
+} // namespace internal
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
@@ -104,11 +104,7 @@ FeaturePose<representation>::FeaturePose(const std::string &pointName)
 }
 
 template <Representation_t representation>
-FeaturePose<representation>::~FeaturePose()
-{
-}
-
-
+FeaturePose<representation>::~FeaturePose() {}
 
 /* --------------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
@@ -261,8 +257,8 @@ Vector &FeaturePose<representation>::computeError(Vector &error, int time) {
 // feature (R^3xSO(3) or SE(3)), in the right frame.
 template <>
 Vector6d convertVelocity<SE3_t>(const MatrixHomogeneous &M,
-                         const MatrixHomogeneous &Mdes,
-                         const Vector &faNufafbDes) {
+                                const MatrixHomogeneous &Mdes,
+                                const Vector &faNufafbDes) {
   (void)M;
   MatrixTwist X;
   buildFrom(Mdes.inverse(Eigen::Affine), X);
@@ -351,6 +347,5 @@ void FeaturePose<representation>::display(std::ostream &os) const {
   }
 }
 
-
-}
-}
+} // namespace sot
+} // namespace dynamicgraph

include/sot/core/feature-posture.hh

@@ -53,7 +53,8 @@ class SOTFEATUREPOSTURE_EXPORT FeaturePosture : public FeatureAbstract {
 
 public:
   typedef dynamicgraph::SignalPtr<dynamicgraph::Vector, int> signalIn_t;
-  typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> signalOut_t;
+  typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
+      signalOut_t;
 
   DECLARE_NO_REFERENCE;
 
@@ -65,7 +66,8 @@ public:
 protected:
   virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int);
   virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int);
-  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
+  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
+                                                int time);
 
   signalIn_t state_;
   signalIn_t posture_;

include/sot/core/feature-task.hh

@@ -40,7 +40,6 @@
 namespace dynamicgraph {
 namespace sot {
 
-
 class SOTFEATURETASK_EXPORT FeatureTask : public FeatureGeneric {
 
 public:

include/sot/core/feature-vector3.hh

@@ -70,8 +70,10 @@ public:
 
   virtual unsigned int &getDimension(unsigned int &dim, int time);
 
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
 
   virtual void display(std::ostream &os) const;
 };

include/sot/core/feature-visual-point.hh

@@ -74,8 +74,10 @@ public:
 
   virtual unsigned int &getDimension(unsigned int &dim, int time);
 
-  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
-  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
+  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
+                                             int time);
+  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
+                                                int time);
 
   /** Static Feature selection. */
   inline static Flags selectX(void) { return FLAG_LINE_1; }

include/sot/core/fir-filter.hh

@@ -21,7 +21,6 @@
 #include <dynamic-graph/command-setter.h>
 #include <dynamic-graph/entity.h>
 
-
 namespace dynamicgraph {
 namespace sot {
 

include/sot/core/gradient-ascent.hh

@@ -18,7 +18,6 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <sot/core/config.hh>
 
-
 namespace dynamicgraph {
 namespace sot {