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stack-of-tasks · Nov 13, 2020 · 5921e17 · 5921e17
1 parent 96916ab
commit 5921e17
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Showing 22 changed files with 329 additions and 303 deletions.
diff --git a/include/sot/core/device.hh b/include/sot/core/device.hh
@@ -97,8 +97,8 @@ public:
   void setTorqueBounds(const Vector &lower, const Vector &upper);
   /// \}
 
-  PeriodicCall& periodicCallBefore() { return periodicCallBefore_; }
-  PeriodicCall& periodicCallAfter() { return periodicCallAfter_; }
+  PeriodicCall &periodicCallBefore() { return periodicCallBefore_; }
+  PeriodicCall &periodicCallAfter() { return periodicCallAfter_; }
 
 public: /* --- DISPLAY --- */
   virtual void display(std::ostream &os) const;

diff --git a/include/sot/core/flags.hh b/include/sot/core/flags.hh
@@ -19,8 +19,8 @@
 #include <vector>
 
 /* SOT */
-#include <dynamic-graph/signal-caster.h>
 #include "sot/core/api.hh"
+#include <dynamic-graph/signal-caster.h>
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */

diff --git a/include/sot/core/integrator-abstract.hh b/include/sot/core/integrator-abstract.hh
@@ -90,21 +90,19 @@ public:
   void popNumCoef() { numerator.pop_back(); }
   void popDenomCoef() { denominator.pop_back(); }
 
-  const std::vector<coefT>& numCoeffs() const { return numerator; }
-  void numCoeffs(const std::vector<coefT>& coeffs) { numerator = coeffs; }
+  const std::vector<coefT> &numCoeffs() const { return numerator; }
+  void numCoeffs(const std::vector<coefT> &coeffs) { numerator = coeffs; }
 
-  const std::vector<coefT>& denomCoeffs() const { return denominator; }
-  void denomCoeffs(const std::vector<coefT>& coeffs) { denominator = coeffs; }
+  const std::vector<coefT> &denomCoeffs() const { return denominator; }
+  void denomCoeffs(const std::vector<coefT> &coeffs) { denominator = coeffs; }
 
 public:
   dynamicgraph::SignalPtr<sigT, int> SIN;
 
   dynamicgraph::SignalTimeDependent<sigT, int> SOUT;
 
-  virtual void display(std::ostream &os) const
-  {
-    os << this->getClassName() << ": " << getName() << '\n'
-      << "  ";
+  virtual void display(std::ostream &os) const {
+    os << this->getClassName() << ": " << getName() << '\n' << "  ";
     if (numerator.empty() || denominator.empty()) {
       os << "ill-formed.";
       return;

diff --git a/include/sot/core/mailbox.hh b/include/sot/core/mailbox.hh
@@ -33,8 +33,7 @@ namespace sot {
 
 namespace dg = dynamicgraph;
 
-template <class Object> struct MailboxTimestampedObject
-{
+template <class Object> struct MailboxTimestampedObject {
   Object obj;
   struct timeval timestamp;
 };
@@ -73,10 +72,11 @@ public: /* --- SIGNALS --- */
 
 } /* namespace sot */
 
-template <class Object> struct signal_io<sot::MailboxTimestampedObject<Object> >
-: signal_io_unimplemented<sot::MailboxTimestampedObject<Object> > {};
+template <class Object>
+struct signal_io<sot::MailboxTimestampedObject<Object> >
+    : signal_io_unimplemented<sot::MailboxTimestampedObject<Object> > {};
 
-template <> struct signal_io<timeval> : signal_io_unimplemented<timeval > {};
+template <> struct signal_io<timeval> : signal_io_unimplemented<timeval> {};
 } /* namespace dynamicgraph */
 
 #endif // #ifndef  __SOT_MAILBOX_HH
diff --git a/include/sot/core/multi-bound.hh b/include/sot/core/multi-bound.hh
@@ -19,8 +19,8 @@
 #include <vector>
 
 /* SOT */
-#include <dynamic-graph/signal-caster.h>
 #include "sot/core/api.hh"
+#include <dynamic-graph/signal-caster.h>
 #include <sot/core/exception-task.hh>
 
 /* --------------------------------------------------------------------- */
@@ -73,7 +73,8 @@ SOT_CORE_EXPORT std::istream &operator>>(std::istream &os, VectorMultiBound &v);
 
 } /* namespace sot */
 
-template <> struct signal_io<sot::MultiBound> : signal_io_unimplemented<sot::MultiBound> {};
+template <>
+struct signal_io<sot::MultiBound> : signal_io_unimplemented<sot::MultiBound> {};
 } /* namespace dynamicgraph */
 
 #endif // #ifndef __SOT_MultiBound_H__
diff --git a/include/sot/core/trajectory.hh b/include/sot/core/trajectory.hh
@@ -195,7 +195,8 @@ public:
 };
 } // namespace sot
 
-template <> struct signal_io<sot::Trajectory> : signal_io_unimplemented<sot::Trajectory> {};
+template <>
+struct signal_io<sot::Trajectory> : signal_io_unimplemented<sot::Trajectory> {};
 
 } // namespace dynamicgraph
 

diff --git a/include/sot/core/variadic-op.hh b/include/sot/core/variadic-op.hh
@@ -108,8 +108,7 @@ public: /* --- SIGNAL --- */
 
   int getSignalNumber() const { return (int)signalsIN.size(); }
 
-  signal_t* getSignalIn(int i)
-  {
+  signal_t *getSignalIn(int i) {
     if (i < 0 || i >= (int)signalsIN.size())
       throw std::out_of_range("Wrong signal index");
     return signalsIN[i];

diff --git a/include/sot/core/vector-to-rotation.hh b/include/sot/core/vector-to-rotation.hh
@@ -40,7 +40,8 @@
 namespace dynamicgraph {
 namespace sot {
 
-class SOTVECTORTOROTATION_EXPORT VectorToRotation : public dynamicgraph::Entity {
+class SOTVECTORTOROTATION_EXPORT VectorToRotation
+    : public dynamicgraph::Entity {
   enum sotAxis { AXIS_X, AXIS_Y, AXIS_Z };
 
   unsigned int size;

diff --git a/src/control/admittance-control-op-point-python.h b/src/control/admittance-control-op-point-python.h
@@ -1,3 +1,4 @@
 #include <sot/core/admittance-control-op-point.hh>
 
-typedef boost::mpl::vector<dynamicgraph::sot::core::AdmittanceControlOpPoint> entities_t;
+typedef boost::mpl::vector<dynamicgraph::sot::core::AdmittanceControlOpPoint>
+    entities_t;
diff --git a/src/feature/feature-point6d-relative-python.h b/src/feature/feature-point6d-relative-python.h
@@ -1,3 +1,4 @@
 #include <sot/core/feature-point6d-relative.hh>
 
-typedef boost::mpl::vector<dynamicgraph::sot::FeaturePoint6dRelative> entities_t;
+typedef boost::mpl::vector<dynamicgraph::sot::FeaturePoint6dRelative>
+    entities_t;
diff --git a/src/feature/feature-pose-python.h b/src/feature/feature-pose-python.h
@@ -2,7 +2,6 @@
 
 namespace dgs = dynamicgraph::sot;
 
-typedef boost::mpl::vector<
-  dgs::FeaturePose<dgs::SE3Representation>
-, dgs::FeaturePose<dgs::R3xSO3Representation>
-  > entities_t;
+typedef boost::mpl::vector<dgs::FeaturePose<dgs::SE3Representation>,
+                           dgs::FeaturePose<dgs::R3xSO3Representation> >
+    entities_t;
diff --git a/src/matrix/derivator-python.h b/src/matrix/derivator-python.h
@@ -1,9 +1,8 @@
 #include <sot/core/derivator.hh>
 
 namespace dg = ::dynamicgraph;
-typedef boost::mpl::vector<
-  dg::sot::Derivator<double>
-  , dg::sot::Derivator<dg::Vector>
-  , dg::sot::Derivator<dg::Matrix>
-  , dg::sot::Derivator<dg::sot::VectorQuaternion>
-> entities_t;
+typedef boost::mpl::vector<dg::sot::Derivator<double>,
+                           dg::sot::Derivator<dg::Vector>,
+                           dg::sot::Derivator<dg::Matrix>,
+                           dg::sot::Derivator<dg::sot::VectorQuaternion> >
+    entities_t;
diff --git a/src/matrix/fir-filter-python.h b/src/matrix/fir-filter-python.h
@@ -1,8 +1,7 @@
 #include <sot/core/fir-filter.hh>
 
 namespace dg = ::dynamicgraph;
-typedef boost::mpl::vector<
-  dg::sot::FIRFilter<double, double>
-  , dg::sot::FIRFilter<dg::Vector, double>
-  , dg::sot::FIRFilter<dg::Vector, dg::Matrix>
-> entities_t;
+typedef boost::mpl::vector<dg::sot::FIRFilter<double, double>,
+                           dg::sot::FIRFilter<dg::Vector, double>,
+                           dg::sot::FIRFilter<dg::Vector, dg::Matrix> >
+    entities_t;
diff --git a/src/matrix/integrator-euler-python-module-py.cc b/src/matrix/integrator-euler-python-module-py.cc
@@ -10,28 +10,34 @@
 namespace dg = dynamicgraph;
 namespace dgc = dynamicgraph::command;
 namespace dgs = dynamicgraph::sot;
-using dg::Vector;
 using dg::Matrix;
+using dg::Vector;
 
-template<typename S, typename C> void exposeIntegratorEuler()
-{
+template <typename S, typename C> void exposeIntegratorEuler() {
   typedef dgs::IntegratorEuler<S, C> IE_t;
 
-  const std::string cName =
-    dgc::Value::typeName(dgc::ValueHelper<C>::TypeID);
+  const std::string cName = dgc::Value::typeName(dgc::ValueHelper<C>::TypeID);
 
   dg::python::exposeEntity<IE_t>()
-    .add_property("numerators",
-        +[](const IE_t& e) { return dg::python::to_py_list(e.numCoeffs().begin(), e.numCoeffs().end()); },
-        +[](IE_t& e, bp::object iterable) { e.numCoeffs(dg::python::to_std_vector<C>(iterable)); })
-    .add_property("denominators",
-        +[](const IE_t& e) { return dg::python::to_py_list(e.denomCoeffs().begin(), e.denomCoeffs().end()); },
-        +[](IE_t& e, bp::object iterable) { e.denomCoeffs(dg::python::to_std_vector<C>(iterable)); })
-        ;
+      .add_property("numerators",
+                    +[](const IE_t &e) {
+                      return dg::python::to_py_list(e.numCoeffs().begin(),
+                                                    e.numCoeffs().end());
+                    },
+                    +[](IE_t &e, bp::object iterable) {
+                      e.numCoeffs(dg::python::to_std_vector<C>(iterable));
+                    })
+      .add_property("denominators",
+                    +[](const IE_t &e) {
+                      return dg::python::to_py_list(e.denomCoeffs().begin(),
+                                                    e.denomCoeffs().end());
+                    },
+                    +[](IE_t &e, bp::object iterable) {
+                      e.denomCoeffs(dg::python::to_std_vector<C>(iterable));
+                    });
 }
 
-BOOST_PYTHON_MODULE(wrap)
-{
+BOOST_PYTHON_MODULE(wrap) {
   bp::import("dynamic_graph");
 
   exposeIntegratorEuler<double, double>();