pre-commit run -a

Author: nim65s

.gitlab-ci.yml.backup

@@ -11,7 +11,7 @@ variables:
 cache:
   paths:
     - ccache
-    
+
 .robotpkg-roscontrol-sot: &robotpkg-roscontrol-sot
   variables:
     ROBOTPKG: roscontrol-sot
@@ -29,7 +29,7 @@ cache:
     - make install
     - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
     - make test
- 
+
   except:
     - gh-pages
 
@@ -41,17 +41,17 @@ robotpkg-roscontrol-sot-14.04:
     - cd build
     - export CCACHE_BASEDIR=${PWD}
     - export CCACHE_DIR=${PWD}/ccache
-    - apt-get update    
-    - apt-get install -y ros-indigo-twist-mux ros-indigo-joy-teleop ros-indigo-moveit-ros-move-group  ros-indigo-humanoid-nav-msgs ros-indigo-four-wheel-steering-msgs 
+    - apt-get update
+    - apt-get install -y ros-indigo-twist-mux ros-indigo-joy-teleop ros-indigo-moveit-ros-move-group  ros-indigo-humanoid-nav-msgs ros-indigo-four-wheel-steering-msgs
   image: ${IMAGE}:14.04
-  
+
 robotpkg-roscontrol-sot-16.04:
   before_script:
     - mkdir -p build/ccache
     - cd build
     - export CCACHE_BASEDIR=${PWD}
     - export CCACHE_DIR=${PWD}/ccache
-    - apt-get update        
+    - apt-get update
     - apt-get install -y ros-kinetic-twist-mux ros-kinetic-joy-teleop ros-kinetic-moveit-ros-move-group  ros-kinetic-humanoid-nav-msgs ros-kinetic-four-wheel-steering-msgs ros-kinetic-urdf-geometry-parser
   script:
     - cd /root/robotpkg
@@ -69,7 +69,7 @@ robotpkg-roscontrol-sot-16.04:
   except:
     - gh-pages
   image: ${IMAGE}:16.04
-  
+
 robotpkg-roscontrol-sot-dubnium:
   <<: *robotpkg-roscontrol-sot
   before_script:
@@ -98,5 +98,5 @@ robotpkg-roscontrol-sot-dubnium:
     - make install
     - cd work.*/${PROJECT}*/
   except:
-    - gh-pages    
-  image: ${IMAGE}:dubnium
+    - gh-pages
+  image: ${IMAGE}:dubnium

CMakeLists.txt

@@ -1,58 +1,57 @@
 # Copyright (C) 2017-2020 LAAS-CNRS
 #
-# Author: Olivier Stasse
-# Author: Guilhem Saurel
+# Author: Olivier Stasse Author: Guilhem Saurel
 #
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)
 
 # Project properties
-SET(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_DESCRIPTION roscontrol_sot)
-SET(PROJECT_NAME roscontrol_sot)
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_DESCRIPTION roscontrol_sot)
+set(PROJECT_NAME roscontrol_sot)
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
 # Project options
 
 # Project configuration
-SET(CXX_DISABLE_WERROR True)
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CXX_DISABLE_WERROR True)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
 
 # JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/python.cmake)
-INCLUDE(cmake/ros.cmake)
+include(cmake/base.cmake)
+include(cmake/boost.cmake)
+include(cmake/python.cmake)
+include(cmake/ros.cmake)
 
 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
-CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+check_minimal_cxx_standard(11 ENFORCE)
 
 # Project dependencies
-FINDPYTHON()
-SEARCH_FOR_BOOST_PYTHON()
+findpython()
+search_for_boost_python()
 add_required_dependency(bullet)
 add_required_dependency(urdfdom)
 
-find_package(catkin REQUIRED COMPONENTS
-  pal_hardware_interfaces
-  controller_interface
-  controller_manager
-  pal_common_msgs
-  roscpp
-  std_msgs
-  control_msgs
-  sensor_msgs
-  realtime_tools
-  rospy
-  )
+find_package(
+  catkin REQUIRED
+  COMPONENTS pal_hardware_interfaces
+             controller_interface
+             controller_manager
+             pal_common_msgs
+             roscpp
+             std_msgs
+             control_msgs
+             sensor_msgs
+             realtime_tools
+             rospy)
 find_package(temperature_sensor_controller)
 
-ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED)
-ADD_PROJECT_DEPENDENCY(dynamic_graph_bridge REQUIRED)
-ADD_PROJECT_DEPENDENCY(sot-core REQUIRED )
-ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
-ADD_PROJECT_DEPENDENCY(control_toolbox REQUIRED)
+add_project_dependency(dynamic-graph-python 4.0.0 REQUIRED)
+add_project_dependency(dynamic_graph_bridge REQUIRED)
+add_project_dependency(sot-core REQUIRED)
+add_project_dependency(pinocchio REQUIRED)
+add_project_dependency(control_toolbox REQUIRED)
 
 # Detect the controller interface version to switch code
 if(controller_interface_FOUND)
@@ -64,43 +63,50 @@ if(controller_interface_FOUND)
   endif()
 endif()
 
-# Detect if temperature sensor controller package is found
-# if yes then it is a PAL Robotics Forked code.
+# Detect if temperature sensor controller package is found if yes then it is a
+# PAL Robotics Forked code.
 
-add_library(rcsot_controller
-  src/roscontrol-sot-controller.cpp
-  src/log.cpp
-  )
-target_include_directories(rcsot_controller SYSTEM PUBLIC
-  ${catkin_INCLUDE_DIRS}
-  $<INSTALL_INTERFACE:include>)
-target_link_libraries(rcsot_controller
-  ${catkin_LIBRARIES}
-  ${bullet_LIBRARIES}
-  sot-core::sot-core
-  dynamic_graph_bridge::sot_loader
-  ${control_toolbox_LIBRARIES})
+add_library(rcsot_controller src/roscontrol-sot-controller.cpp src/log.cpp)
+target_include_directories(
+  rcsot_controller SYSTEM PUBLIC ${catkin_INCLUDE_DIRS}
+                                 $<INSTALL_INTERFACE:include>)
+target_link_libraries(
+  rcsot_controller ${catkin_LIBRARIES} ${bullet_LIBRARIES} sot-core::sot-core
+  dynamic_graph_bridge::sot_loader ${control_toolbox_LIBRARIES})
 if(temperature_sensor_controller_FOUND)
-  target_compile_definitions(rcsot_controller PUBLIC TEMPERATURE_SENSOR_CONTROLLER)
-  message("temperature_sensor_controller_LIBRARIES: ${temperature_sensor_controller_LIBRARIES}")
-  target_include_directories(rcsot_controller SYSTEM PUBLIC ${temperature_sensor_controller_INCLUDE_DIRS})
-  target_link_libraries(rcsot_controller ${temperature_sensor_controller_LIBRARIES})
+  target_compile_definitions(rcsot_controller
+                             PUBLIC TEMPERATURE_SENSOR_CONTROLLER)
+  message(
+    "temperature_sensor_controller_LIBRARIES: ${temperature_sensor_controller_LIBRARIES}"
+  )
+  target_include_directories(
+    rcsot_controller SYSTEM
+    PUBLIC ${temperature_sensor_controller_INCLUDE_DIRS})
+  target_link_libraries(rcsot_controller
+                        ${temperature_sensor_controller_LIBRARIES})
 endif()
 
-IF(SUFFIX_SO_VERSION)
-  SET_TARGET_PROPERTIES(rcsot_controller PROPERTIES SOVERSION ${PROJECT_VERSION})
-ENDIF(SUFFIX_SO_VERSION)
+if(SUFFIX_SO_VERSION)
+  set_target_properties(rcsot_controller PROPERTIES SOVERSION
+                                                    ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
 
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(TARGETS rcsot_controller EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  install(
+    TARGETS rcsot_controller
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION lib)
+endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
-ADD_EXECUTABLE(roscontrol-sot-parse-log src/roscontrol-sot-parse-log.cc)
-install(TARGETS roscontrol-sot-parse-log EXPORT ${TARGETS_EXPORT_NAME} DESTINATION bin)
+add_executable(roscontrol-sot-parse-log src/roscontrol-sot-parse-log.cc)
+install(
+  TARGETS roscontrol-sot-parse-log
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION bin)
 
 foreach(dir config launch)
   install(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
 endforeach(dir)
 
-ADD_SUBDIRECTORY(tests)
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+add_subdirectory(tests)
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})

config/roscontrol_sot_controller_plugins.xml

@@ -6,4 +6,3 @@
     </description>
   </class>
 </library>
-

config/sot_test_params.yaml

@@ -10,7 +10,7 @@ gains:
 joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50
-    
+
 sot_controller:
   type: sot_controller/RCSotController
   libname: libsot-test-controller.so
@@ -39,4 +39,3 @@ sot_controller:
   dt: 0.001
   jitter: 0.0004
   verbosity_level: 25
-  

doc/additionalHeader/roscontrol-sot-doc.hh

@@ -142,7 +142,8 @@ the SoT.
 The size of double vector and the map key are computed automatically depending
 on the number of sensors and actuators provided by the robot_hardware_interface.
 
-\image html class-diagram.svg "Class diagram with implementation for Tiago robot (in sot-tiago)"
+\image html class-diagram.svg "Class diagram with implementation for Tiago robot
+(in sot-tiago)"
 
 \section section_yamlfile Setting the YAML file.
 

launch/roscontrol_sot_hardware.launch

@@ -2,7 +2,7 @@
 
   <!-- Load URDF file -->
   <param name="robot_description" command="$(find xacro)/xacro.py $(find roscontrol_sot)/urdf/test.urdf"  />
-  
+
   <!-- Spawn simulated hardware -->
   <node name="roscontrol_sot_hardware_spawner"
         pkg="roscontrol_sot" type="roscontrol_sot_hardware" output="screen"
@@ -21,7 +21,6 @@
   <node name="sot_controller_spawner"
         pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
-       
 
-</launch>
 
+</launch>

src/log.cpp

@@ -4,10 +4,12 @@
    Object to log the low-level informations of a robot.
 */
 #include "log.hh"
+
+#include <sys/time.h>
+
 #include <fstream>
 #include <iomanip>
 #include <sstream>
-#include <sys/time.h>
 
 using namespace std;
 using namespace rc_sot_system;
@@ -24,28 +26,28 @@ void DataToLog::init(ProfileLog &aProfileLog) {
   orientation.resize(4 * aProfileLog.length);
   accelerometer.resize(3 * aProfileLog.length);
   gyrometer.resize(3 * aProfileLog.length);
-  force_sensors.resize(aProfileLog.nbForceSensors*6*aProfileLog.length);
+  force_sensors.resize(aProfileLog.nbForceSensors * 6 * aProfileLog.length);
   temperatures.resize(aProfileLog.nbDofs * aProfileLog.length);
   controls.resize(aProfileLog.nbDofs * aProfileLog.length);
   timestamp.resize(aProfileLog.length);
   duration.resize(aProfileLog.length);
 
   for (unsigned int i = 0; i < aProfileLog.nbDofs * aProfileLog.length; i++) {
     motor_angle[i] = joint_angle[i] = velocities[i] = torques[i] =
-      motor_currents[i] = temperatures[i] = controls[i] = 0.0;
+        motor_currents[i] = temperatures[i] = controls[i] = 0.0;
   }
   for (unsigned int i = 0; i < 4 * aProfileLog.length; i++) {
     orientation[i] = 0;
   }
   for (unsigned int i = 0; i < 3 * aProfileLog.length; i++) {
     accelerometer[i] = gyrometer[i] = 0;
   }
-  for (unsigned int i = 0; i < aProfileLog.nbForceSensors*6*aProfileLog.length;
-       i++) {
+  for (unsigned int i = 0;
+       i < aProfileLog.nbForceSensors * 6 * aProfileLog.length; i++) {
     force_sensors[i] = 0;
   }
   for (unsigned int i = 0; i < aProfileLog.length; i++) {
-     timestamp[i] = duration[i] = 0;
+    timestamp[i] = duration[i] = 0;
   }
 }
 
@@ -116,7 +118,7 @@ void Log::record(DataToLog &aDataToLog) {
     lref_ = 0;
     lrefts_ = 0;
   }
-  assert(lref_ == lrefts_*profileLog_.nbDofs);
+  assert(lref_ == lrefts_ * profileLog_.nbDofs);
 }
 
 void Log::start_it() {
@@ -140,7 +142,7 @@ double Log::stop_it() {
 }
 
 void Log::save(std::string &fileName) {
-  assert(lref_ == lrefts_*profileLog_.nbDofs);
+  assert(lref_ == lrefts_ * profileLog_.nbDofs);
 
   std::string suffix("-mastate.log");
   saveVector(fileName, suffix, StoredData_.motor_angle, profileLog_.nbDofs);
@@ -162,7 +164,7 @@ void Log::save(std::string &fileName) {
   suffix = oss.str();
   if (profileLog_.nbForceSensors > 0) {
     saveVector(fileName, suffix, StoredData_.force_sensors,
-	       6 * profileLog_.nbForceSensors);
+               6 * profileLog_.nbForceSensors);
   }
 
   suffix = "-temperatures.log";

src/log.hh

@@ -57,7 +57,7 @@ struct DataToLog {
 };
 
 class Log {
-private:
+ private:
   /// Profile Log
   ProfileLog profileLog_;
 
@@ -79,10 +79,9 @@ private:
   // \note avector is a circular buffer. Data will be written from
   //       start to N, and then from 0 to start.
   void saveVector(std::string &filename, std::string &suffix,
-                  const std::vector<double> &avector,
-                  std::size_t size);
+                  const std::vector<double> &avector, std::size_t size);
 
-public:
+ public:
   Log();
 
   void init(ProfileLog &aProfileLog);
@@ -93,7 +92,7 @@ public:
   /// \return the elapsed time since the previous \ref start_it
   double stop_it();
 };
-} // namespace rc_sot_system
+}  // namespace rc_sot_system
 
 #pragma GCC diagnostic push
 #pragma GCC system_header