Fix style

Author: olivier-stasse

include/dynamic_graph_bridge/ros_init.hh

@@ -1,20 +1,19 @@
 #ifndef ROS_INIT_HH
-# define ROS_INIT_HH
-# include <ros/ros.h>
+#define ROS_INIT_HH
+#include <ros/ros.h>
 
-namespace dynamicgraph
-{
-  ros::NodeHandle& rosInit (bool createAsyncSpinner=false, bool createMultiThreadSpinner=true);
+namespace dynamicgraph {
+ros::NodeHandle& rosInit(bool createAsyncSpinner = false,
+                         bool createMultiThreadSpinner = true);
 
-  /// \brief Return spinner or throw an exception if spinner
-  /// creation has been disabled at startup.
-  ros::AsyncSpinner& spinner ();
+/// \brief Return spinner or throw an exception if spinner
+/// creation has been disabled at startup.
+ros::AsyncSpinner& spinner();
 
-  /// \brief Return multi threaded spinner or throw an exception if spinner
-  /// creation has been disabled at startup.
-  ros::MultiThreadedSpinner& mtSpinner ();
+/// \brief Return multi threaded spinner or throw an exception if spinner
+/// creation has been disabled at startup.
+ros::MultiThreadedSpinner& mtSpinner();
 
+}  // end of namespace dynamicgraph.
 
-} // end of namespace dynamicgraph.
-
-#endif //! ROS_INIT_HH
+#endif  //! ROS_INIT_HH

include/dynamic_graph_bridge/ros_interpreter.hh

@@ -1,60 +1,59 @@
 #ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
-# define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
-# include <ros/ros.h>
-# include <dynamic_graph_bridge_msgs/RunCommand.h>
-# include <dynamic_graph_bridge_msgs/RunPythonFile.h>
-# include <dynamic-graph/python/interpreter.hh>
-
-namespace dynamicgraph
-{
-  /// \brief This class wraps the implementation of the runCommand
-  /// service.
-  ///
-  /// This takes as input a ROS node handle and do not handle the
-  /// callback so that the service behavior can be controlled from
-  /// the outside.
-  class Interpreter
-  {
-  public:
-    typedef boost::function<
-    bool (dynamic_graph_bridge_msgs::RunCommand::Request&,
-    	  dynamic_graph_bridge_msgs::RunCommand::Response&)>
-    runCommandCallback_t;
-
-    typedef boost::function<
-    bool (dynamic_graph_bridge_msgs::RunPythonFile::Request&,
-          dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
-    runPythonFileCallback_t;
-
-    explicit Interpreter (ros::NodeHandle& nodeHandle);
-
-    /// \brief Method to start python interpreter and deal with messages.
-    /// \param Command string to execute, result, stdout, stderr strings.
-    void runCommand(const std::string & command, std::string &result,
-		    std::string &out, std::string &err);
-
-    /// \brief Method to parse python scripts.
-    /// \param Input file name to parse.
-    void runPythonFile(std::string ifilename);
-
-    /// Initialize service run_command
-    void startRosService ();
-
-  protected:
-    /// \brief Run a Python command and return result, stderr and stdout.
-    bool runCommandCallback (dynamic_graph_bridge_msgs::RunCommand::Request& req,
-			     dynamic_graph_bridge_msgs::RunCommand::Response& res);
-
-    /// \brief Run a Python file.
-    bool runPythonFileCallback (dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
-                                dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
-
-  private:
-    python::Interpreter interpreter_;
-    ros::NodeHandle& nodeHandle_;
-    ros::ServiceServer runCommandSrv_;
-    ros::ServiceServer runPythonFileSrv_;
-  };
-} // end of namespace dynamicgraph.
-
-#endif //! DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
+#define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
+#include <ros/ros.h>
+#include <dynamic_graph_bridge_msgs/RunCommand.h>
+#include <dynamic_graph_bridge_msgs/RunPythonFile.h>
+#include <dynamic-graph/python/interpreter.hh>
+
+namespace dynamicgraph {
+/// \brief This class wraps the implementation of the runCommand
+/// service.
+///
+/// This takes as input a ROS node handle and do not handle the
+/// callback so that the service behavior can be controlled from
+/// the outside.
+class Interpreter {
+ public:
+  typedef boost::function<bool(
+      dynamic_graph_bridge_msgs::RunCommand::Request&,
+      dynamic_graph_bridge_msgs::RunCommand::Response&)>
+      runCommandCallback_t;
+
+  typedef boost::function<bool(
+      dynamic_graph_bridge_msgs::RunPythonFile::Request&,
+      dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
+      runPythonFileCallback_t;
+
+  explicit Interpreter(ros::NodeHandle& nodeHandle);
+
+  /// \brief Method to start python interpreter and deal with messages.
+  /// \param Command string to execute, result, stdout, stderr strings.
+  void runCommand(const std::string& command, std::string& result,
+                  std::string& out, std::string& err);
+
+  /// \brief Method to parse python scripts.
+  /// \param Input file name to parse.
+  void runPythonFile(std::string ifilename);
+
+  /// Initialize service run_command
+  void startRosService();
+
+ protected:
+  /// \brief Run a Python command and return result, stderr and stdout.
+  bool runCommandCallback(dynamic_graph_bridge_msgs::RunCommand::Request& req,
+                          dynamic_graph_bridge_msgs::RunCommand::Response& res);
+
+  /// \brief Run a Python file.
+  bool runPythonFileCallback(
+      dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
+      dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
+
+ private:
+  python::Interpreter interpreter_;
+  ros::NodeHandle& nodeHandle_;
+  ros::ServiceServer runCommandSrv_;
+  ros::ServiceServer runPythonFileSrv_;
+};
+}  // end of namespace dynamicgraph.
+
+#endif  //! DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH

include/dynamic_graph_bridge/sot_loader.hh

@@ -41,7 +41,7 @@
 #include <sensor_msgs/JointState.h>
 #include <tf/transform_broadcaster.h>
 
-// Sot Framework includes 
+// Sot Framework includes
 #include <sot/core/debug.hh>
 #include <sot/core/abstract-sot-external-interface.hh>
 
@@ -51,20 +51,15 @@
 namespace po = boost::program_options;
 namespace dgs = dynamicgraph::sot;
 
-
-class SotLoader: public SotLoaderBasic 
-{
-
-protected:
-
-
+class SotLoader : public SotLoaderBasic {
+ protected:
   /// Map of sensor readings
-  std::map <std::string,dgs::SensorValues> sensorsIn_;
+  std::map<std::string, dgs::SensorValues> sensorsIn_;
   /// Map of control values
-  std::map<std::string,dgs::ControlValues> controlValues_;
+  std::map<std::string, dgs::ControlValues> controlValues_;
 
   /// Angular values read by encoders
-  std::vector <double> angleEncoder_;
+  std::vector<double> angleEncoder_;
   /// Angular values sent to motors
   std::vector<double> angleControl_;
   /// Forces read by force sensors
@@ -74,26 +69,24 @@ protected:
   /// Attitude of the robot computed by extended Kalman filter.
   std::vector<double> baseAtt_;
   /// Accelerations read by Accelerometers
-  std::vector <double> accelerometer_;
+  std::vector<double> accelerometer_;
   /// Angular velocity read by gyrometers
-  std::vector <double> gyrometer_;
+  std::vector<double> gyrometer_;
 
   /// URDF string description of the robot.
   std::string robot_desc_string_;
-  
 
   /// The thread running dynamic graph
   boost::thread thread_;
-  
+
   // \brief Start control loop
   virtual void startControlLoop();
 
-
-  //Robot Pose Publisher
+  // Robot Pose Publisher
   tf::TransformBroadcaster freeFlyerPublisher_;
   tf::Transform freeFlyerPose_;
 
-public:
+ public:
   SotLoader();
   ~SotLoader();
 
@@ -105,17 +98,13 @@ public:
   void oneIteration();
 
   // \brief Fill the sensors value for the SoT.
-  void fillSensors(std::map<std::string, 
-                   dgs::SensorValues> & sensorsIn);
+  void fillSensors(std::map<std::string, dgs::SensorValues> &sensorsIn);
 
   // \brief Read the control computed by the SoT framework.
-  void readControl(std::map<std::string, 
-                   dgs::ControlValues> & controlValues);
+  void readControl(std::map<std::string, dgs::ControlValues> &controlValues);
 
   // \brief Prepare the SoT framework.
   void setup();
-
-
 };
 
 #endif /* SOT_LOADER_HH_ */

include/dynamic_graph_bridge/sot_loader_basic.hh

@@ -39,28 +39,26 @@
 #include "std_srvs/Empty.h"
 #include <sensor_msgs/JointState.h>
 
-// Sot Framework includes 
+// Sot Framework includes
 #include <sot/core/debug.hh>
 #include <sot/core/abstract-sot-external-interface.hh>
 
 namespace po = boost::program_options;
 namespace dgs = dynamicgraph::sot;
 
-
 class SotLoaderBasic {
-protected:
-
+ protected:
   // Dynamic graph is stopped.
   bool dynamic_graph_stopped_;
 
   /// \brief the sot-hrp2 controller
-  dgs::AbstractSotExternalInterface * sotController_;
+  dgs::AbstractSotExternalInterface* sotController_;
 
   po::variables_map vm_;
   std::string dynamicLibraryName_;
 
   /// \brief Handle on the SoT library.
-  void * sotRobotControllerLibrary_;
+  void* sotRobotControllerLibrary_;
 
   /// \brief Map between SoT state vector and some joint_state_links
   XmlRpc::XmlRpcValue stateVectorMap_;
@@ -76,24 +74,23 @@ protected:
 
   /// Advertises stop_dynamic_graph services
   ros::ServiceServer service_stop_;
-  
+
   // Joint state publication.
   ros::Publisher joint_pub_;
-  
+
   // Joint state to be published.
   sensor_msgs::JointState joint_state_;
 
   // Number of DOFs according to KDL.
   int nbOfJoints_;
   parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_;
 
-
-public:
+ public:
   SotLoaderBasic();
-  ~SotLoaderBasic() {};
+  ~SotLoaderBasic(){};
 
   // \brief Read user input to extract the path of the SoT dynamic library.
-  int parseOptions(int argc, char *argv[]);
+  int parseOptions(int argc, char* argv[]);
 
   /// \brief Load the SoT device corresponding to the robot.
   void Initialization();
@@ -102,16 +99,15 @@ public:
   void CleanUp();
 
   // \brief Create a thread for ROS.
-  virtual void initializeRosNode(int argc, char *argv[]);
-  
+  virtual void initializeRosNode(int argc, char* argv[]);
 
   // \brief Callback function when starting dynamic graph.
-  bool start_dg(std_srvs::Empty::Request& request, 
+  bool start_dg(std_srvs::Empty::Request& request,
                 std_srvs::Empty::Response& response);
 
   // \brief Callback function when stopping dynamic graph.
-  bool stop_dg(std_srvs::Empty::Request& request, 
-                std_srvs::Empty::Response& response);
+  bool stop_dg(std_srvs::Empty::Request& request,
+               std_srvs::Empty::Response& response);
 
   // \brief Read the state vector description based upon the robot links.
   int readSotVectorStateParam();
@@ -120,13 +116,10 @@ public:
   int initPublication();
 
   // \brief Get Status of dg.
-  bool isDynamicGraphStopped()
-  { return dynamic_graph_stopped_; }
+  bool isDynamicGraphStopped() { return dynamic_graph_stopped_; }
 
   // \brief Specify the name of the dynamic library.
-  void setDynamicLibraryName(std::string &afilename);
-
-
+  void setDynamicLibraryName(std::string& afilename);
 };
 
 #endif /* _SOT_LOADER_BASIC_HH_ */