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markusgftmarkusgft
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ran clang-format on ct_core
1 parent 6326d68 commit 723af06

39 files changed

+75
-107
lines changed

‎ct_core/include/ct/core/common/UniformNoise.h

Lines changed: 1 addition & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -25,16 +25,13 @@ class UniformNoise
2525
* @param mean the mean of the uniform distribution
2626
* @param r the half-width of the distribution
2727
*/
28-
UniformNoise(const double mean = 0.0, const double r = 1.0) : rd_(), eng_(rd_()), distr_(mean - r, mean + r) {}
29-
28+
UniformNoise(const double mean = 0.0, const double r = 1.0) : rd_(), eng_(rd_()), distr_(mean - r, mean + r) {}
3029
//! Scalar generator
3130
/*!
3231
* generates a single scalar random variable
3332
* @return random variable
3433
*/
3534
double operator()() { return distr_(eng_); }
36-
37-
3835
//! Vector generator
3936
/*!
4037
* All entries in the vector are separately generated random variables
@@ -68,7 +65,6 @@ class UniformNoise
6865

6966

7067
private:
71-
7268
std::random_device rd_;
7369
std::mt19937 eng_;
7470
std::uniform_real_distribution<> distr_;

‎ct_core/include/ct/core/common/activations/PeriodicActivation.hpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -90,8 +90,8 @@ class PeriodicActivation : public ActivationBase<SCALAR>
9090

9191
private:
9292
SCALAR
93-
active_percentage_; // how much of the cycle is the time active TODO: misleading name. should be called fraction
94-
SCALAR period_; // what is the period
93+
active_percentage_; // how much of the cycle is the time active TODO: misleading name. should be called fraction
94+
SCALAR period_; // what is the period
9595
SCALAR activation_offset_; // how much is the activation offset WITHIN the period
9696
SCALAR period_offset_; // how much is the period offset to t=0?
9797
SCALAR t_end_;

‎ct_core/include/ct/core/control/StateFeedbackController-impl.h

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -73,13 +73,15 @@ StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::clone() const
7373

7474

7575
template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>
76-
const DiscreteArray<typename StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::state_vector_t>& StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::x_ref() const
76+
const DiscreteArray<typename StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::state_vector_t>&
77+
StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::x_ref() const
7778
{
7879
return x_ref_.getDataArray();
7980
}
8081

8182
template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>
82-
const DiscreteArray<typename StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::control_vector_t>& StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::uff() const
83+
const DiscreteArray<typename StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::control_vector_t>&
84+
StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>::uff() const
8385
{
8486
return uff_.getDataArray();
8587
}

‎ct_core/include/ct/core/control/StateFeedbackController.h

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,6 @@ class StateFeedbackController : public Controller<STATE_DIM, CONTROL_DIM, SCALAR
5454

5555
//! default constructor
5656
StateFeedbackController() : ContinuousBase(), DiscreteBase() {}
57-
5857
//! copy constructor
5958
StateFeedbackController(const StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>& other);
6059

‎ct_core/include/ct/core/integration/eigenIntegration.h

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -28,16 +28,16 @@ namespace Eigen {
2828

2929
template <typename D>
3030
inline const CwiseUnaryOp<internal::scalar_abs_op<typename internal::traits<D>::Scalar>, const D> abs(
31-
const MatrixBase<D> &x)
31+
const MatrixBase<D>& x)
3232
{
3333
return x.cwiseAbs();
3434
}
3535

3636

3737
template <typename D>
3838
inline Matrix<typename internal::traits<D>::Scalar, internal::traits<D>::RowsAtCompileTime, 1> operator+(
39-
const typename internal::traits<D>::Scalar &s,
40-
const MatrixBase<D> &m)
39+
const typename internal::traits<D>::Scalar& s,
40+
const MatrixBase<D>& m)
4141
{
4242
Matrix<typename internal::traits<D>::Scalar, internal::traits<D>::RowsAtCompileTime, 1> result = m;
4343
result *= s;
@@ -46,8 +46,8 @@ inline Matrix<typename internal::traits<D>::Scalar, internal::traits<D>::RowsAtC
4646

4747
template <typename D, typename D2>
4848
inline Matrix<typename internal::traits<D>::Scalar, internal::traits<D>::RowsAtCompileTime, 1> operator/(
49-
const MatrixBase<D> &lhs,
50-
const MatrixBase<D2> &rhs)
49+
const MatrixBase<D>& lhs,
50+
const MatrixBase<D2>& rhs)
5151
{
5252
Matrix<typename internal::traits<D>::Scalar, internal::traits<D>::RowsAtCompileTime, 1> res;
5353
res = (lhs.array() / rhs.array());
@@ -61,7 +61,7 @@ inline Matrix<typename internal::traits<D>::Scalar, internal::traits<D>::RowsAtC
6161
template <typename D>
6262
inline const typename Eigen::
6363
CwiseUnaryOp<typename Eigen::internal::scalar_add_op<typename Eigen::internal::traits<D>::Scalar>, const D>
64-
operator+(const typename Eigen::MatrixBase<D> &m, const typename Eigen::internal::traits<D>::Scalar &s)
64+
operator+(const typename Eigen::MatrixBase<D>& m, const typename Eigen::internal::traits<D>::Scalar& s)
6565
{
6666
return Eigen::CwiseUnaryOp<typename Eigen::internal::scalar_add_op<typename Eigen::internal::traits<D>::Scalar>,
6767
const D>(m.derived(), Eigen::internal::scalar_add_op<typename Eigen::internal::traits<D>::Scalar>(s));
@@ -70,7 +70,7 @@ inline const typename Eigen::
7070
template <typename D>
7171
inline const typename Eigen::
7272
CwiseUnaryOp<typename Eigen::internal::scalar_add_op<typename Eigen::internal::traits<D>::Scalar>, const D>
73-
operator+(const typename Eigen::internal::traits<D>::Scalar &s, const typename Eigen::MatrixBase<D> &m)
73+
operator+(const typename Eigen::internal::traits<D>::Scalar& s, const typename Eigen::MatrixBase<D>& m)
7474
{
7575
return Eigen::CwiseUnaryOp<typename Eigen::internal::scalar_add_op<typename Eigen::internal::traits<D>::Scalar>,
7676
const D>(m.derived(), Eigen::internal::scalar_add_op<typename Eigen::internal::traits<D>::Scalar>(s));
@@ -82,7 +82,7 @@ inline const typename Eigen::CwiseBinaryOp<
8282
typename Eigen::internal::scalar_quotient_op<typename Eigen::internal::traits<D1>::Scalar>,
8383
const D1,
8484
const D2>
85-
operator/(const Eigen::MatrixBase<D1> &x1, const Eigen::MatrixBase<D2> &x2)
85+
operator/(const Eigen::MatrixBase<D1>& x1, const Eigen::MatrixBase<D2>& x2)
8686
{
8787
return x1.cwiseQuotient(x2);
8888
}
@@ -91,7 +91,7 @@ operator/(const Eigen::MatrixBase<D1> &x1, const Eigen::MatrixBase<D2> &x2)
9191
template <typename D>
9292
inline const typename Eigen::
9393
CwiseUnaryOp<typename Eigen::internal::scalar_abs_op<typename Eigen::internal::traits<D>::Scalar>, const D>
94-
abs(const Eigen::MatrixBase<D> &m)
94+
abs(const Eigen::MatrixBase<D>& m)
9595
{
9696
return m.cwiseAbs();
9797
}
@@ -114,7 +114,7 @@ struct vector_space_norm_inf<Eigen::Matrix<B, S1, S2, O, M1, M2>>
114114
{
115115
typedef B result_type;
116116

117-
result_type operator()(const Eigen::Matrix<B, S1, S2, O, M1, M2> &m) const
117+
result_type operator()(const Eigen::Matrix<B, S1, S2, O, M1, M2>& m) const
118118
{
119119
return m.template lpNorm<Eigen::Infinity>();
120120
}
@@ -127,7 +127,7 @@ template <int STATE_DIM, typename SCALAR>
127127
struct vector_space_reduce<Eigen::Matrix<SCALAR, STATE_DIM, 1>>
128128
{
129129
template <class Op>
130-
SCALAR operator()(const Eigen::Matrix<SCALAR, STATE_DIM, 1> &x, Op op, SCALAR init) const
130+
SCALAR operator()(const Eigen::Matrix<SCALAR, STATE_DIM, 1>& x, Op op, SCALAR init) const
131131
{
132132
for (int i = 0; i < STATE_DIM; i++)
133133
{

‎ct_core/include/ct/core/internal/autodiff/SparsityPattern.h

Lines changed: 0 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -67,7 +67,6 @@ class SparsityPattern
6767
* @return sparsity pattern vector
6868
*/
6969
const CppAD::vector<bool>& sparsity() const { return sparsity_; }
70-
7170
//! returns the row indices of a row-column sparsity representation
7271
/*!
7372
* In a row-column representation, only the non-zero entries get saved.
@@ -77,7 +76,6 @@ class SparsityPattern
7776
* @return row indeces of row-column representation
7877
*/
7978
const CppAD::vector<size_t>& row() const { return row_; }
80-
8179
//! returns the column indices of a row-column sparsity representation
8280
/*!
8381
* In a row-column representation, only the non-zero entries get saved.
@@ -87,17 +85,14 @@ class SparsityPattern
8785
* @return column indeces of row-column representation
8886
*/
8987
const CppAD::vector<size_t>& col() const { return col_; }
90-
9188
//! work area for CppAD
9289
/*!
9390
* CppAD can make use of previous results from a sparsity analysis.
9491
* This method returns the "work" area of CppAD sparsity
9592
* @return CppAD sparsity work
9693
*/
9794
CppAD::sparse_jacobian_work& workJacobian() { return workJacobian_; }
98-
9995
CppAD::sparse_hessian_work& workHessian() { return workHessian_; }
100-
10196
/**
10297
* @brief Clears the cppad internal work done on the sparsity pattern
10398
*/

‎ct_core/include/ct/core/internal/traits/CppADCodegenTrait.h

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -30,7 +30,6 @@ class CppADCodegenTrait
3030
inline static Scalar exp(const Scalar& x) { return CppAD::exp(x); }
3131
inline static Scalar fabs(const Scalar& x) { return CppAD::fabs(x); }
3232
inline static Scalar sqrt(const Scalar& x) { return CppAD::sqrt(x); }
33-
3433
//! Solves a linear system of equations using an LU factorization
3534
template <int Dims>
3635
inline static Eigen::Matrix<Scalar, Dims, 1> solve(const Eigen::Matrix<Scalar, Dims, Dims>& A,

‎ct_core/include/ct/core/internal/traits/CppADDoubleTrait.h

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,6 @@ struct CppADDoubleTrait
2626
inline static Scalar exp(const Scalar& x) { return CppAD::exp(x); }
2727
inline static Scalar fabs(const Scalar& x) { return CppAD::fabs(x); }
2828
inline static Scalar sqrt(const Scalar& x) { return CppAD::sqrt(x); }
29-
3029
//! Solves a linear system of equations using Eigen's inverse functionality
3130
template <int Dims>
3231
inline static Eigen::Matrix<Scalar, Dims, 1> solve(const Eigen::Matrix<Scalar, Dims, Dims>& A,

‎ct_core/include/ct/core/internal/traits/DoubleTrait.h

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,6 @@ struct DoubleTrait
2323
inline static Scalar exp(const Scalar& x) { return std::exp(x); }
2424
inline static Scalar fabs(const Scalar& x) { return std::fabs(x); }
2525
inline static Scalar sqrt(const Scalar& x) { return std::sqrt(x); }
26-
2726
//! Solves a linear system of equations using Eigen's inverse functionality
2827
template <int Rows, int Cols>
2928
inline static Eigen::Matrix<Scalar, Cols, 1> solve(const Eigen::Matrix<Scalar, Rows, Cols>& A,

‎ct_core/include/ct/core/internal/traits/FloatTrait.h

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,6 @@ struct FloatTrait
2323
inline static Scalar exp(const Scalar& x) { return std::exp(x); }
2424
inline static Scalar fabs(const Scalar& x) { return std::fabs(x); }
2525
inline static Scalar sqrt(const Scalar& x) { return std::sqrt(x); }
26-
2726
//! Solves a linear system of equations using Eigen's inverse functionality
2827
template <int Rows, int Cols>
2928
inline static Eigen::Matrix<Scalar, Cols, 1> solve(const Eigen::Matrix<Scalar, Rows, Cols>& A,

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