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‎include/sot/core/clamp-workspace.hh

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -62,8 +62,10 @@ public:
6262

6363
void update(int time);
6464

65-
virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res, int time);
66-
virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res, int time);
65+
virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res,
66+
int time);
67+
virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res,
68+
int time);
6769
virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, int time);
6870

6971
virtual void display(std::ostream &) const;

‎include/sot/core/com-freezer.hh

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -62,7 +62,8 @@ public: /* --- SIGNAL --- */
6262
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> freezedCoMSOUT;
6363

6464
public: /* --- FUNCTION --- */
65-
dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM, const int &time);
65+
dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM,
66+
const int &time);
6667

6768
public: /* --- PARAMS --- */
6869
virtual void display(std::ostream &os) const;

‎include/sot/core/control-gr.hh

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,6 @@
3939
namespace dynamicgraph {
4040
namespace sot {
4141

42-
4342
/* --------------------------------------------------------------------- */
4443
/* --- CLASS ----------------------------------------------------------- */
4544
/* --------------------------------------------------------------------- */

‎include/sot/core/control-pd.hh

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -80,8 +80,10 @@ protected:
8080
dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
8181
dynamicgraph::Vector position_error_;
8282
dynamicgraph::Vector velocity_error_;
83-
dynamicgraph::Vector &getPositionError(dynamicgraph::Vector &position_error, int t);
84-
dynamicgraph::Vector &getVelocityError(dynamicgraph::Vector &velocity_error, int t);
83+
dynamicgraph::Vector &getPositionError(dynamicgraph::Vector &position_error,
84+
int t);
85+
dynamicgraph::Vector &getVelocityError(dynamicgraph::Vector &velocity_error,
86+
int t);
8587
};
8688

8789
} // namespace sot

‎include/sot/core/device.hh

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -141,8 +141,8 @@ public: /* --- SIGNALS --- */
141141

142142
protected:
143143
/// Compute roll pitch yaw angles of freeflyer joint.
144-
void integrateRollPitchYaw(dynamicgraph::Vector &state, const dynamicgraph::Vector &control,
145-
double dt);
144+
void integrateRollPitchYaw(dynamicgraph::Vector &state,
145+
const dynamicgraph::Vector &control, double dt);
146146
/// Store Position of free flyer joint
147147
MatrixHomogeneous ffPose_;
148148
/// Compute the new position, from the current control.

‎include/sot/core/exp-moving-avg.hh

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,6 @@
1818
#include <dynamic-graph/signal-time-dependent.h>
1919
#include <sot/core/config.hh>
2020

21-
2221
namespace dynamicgraph {
2322
namespace sot {
2423

‎include/sot/core/feature-1d.hh

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -98,10 +98,12 @@ public:
9898

9999
/*! \brief Compute the error between the desired value and the value itself.
100100
*/
101-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
101+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
102+
int time);
102103

103104
/*! \brief Compute the Jacobian of the value according to the robot state.. */
104-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
105+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
106+
int time);
105107

106108
/*! @} */
107109

‎include/sot/core/feature-abstract.hh

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -136,20 +136,23 @@ public:
136136
\par[in] time: The time at which the error is computed.
137137
\return The vector res with the appropriate value.
138138
*/
139-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time) = 0;
139+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
140+
int time) = 0;
140141

141142
/*! \brief Compute the Jacobian of the error according the robot state.
142143
143144
\par[out] res: The matrix in which the error will be written.
144145
\return The matrix res with the appropriate values.
145146
*/
146-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time) = 0;
147+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
148+
int time) = 0;
147149

148150
/// Callback for signal errordotSOUT
149151
///
150152
/// Copy components of the input signal errordotSIN defined by selection
151153
/// flag selectionSIN.
152-
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
154+
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
155+
int time);
153156

154157
/*! @} */
155158

‎include/sot/core/feature-generic.hh

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -109,10 +109,12 @@ public:
109109

110110
/*! \brief Compute the error between the desired value and the value itself.
111111
*/
112-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
112+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
113+
int time);
113114

114115
/*! \brief Compute the Jacobian of the value according to the robot state.. */
115-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
116+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
117+
int time);
116118

117119
/*! @} */
118120

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

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -83,9 +83,12 @@ public:
8383

8484
virtual unsigned int &getDimension(unsigned int &dim, int time);
8585

86-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
87-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
88-
dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res, const int &time);
86+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
87+
int time);
88+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
89+
int time);
90+
dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res,
91+
const int &time);
8992

9093
/** Static Feature selection. */
9194
inline static Flags selectActuated(void);

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

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -75,9 +75,12 @@ public:
7575

7676
virtual unsigned int &getDimension(unsigned int &dim, int time);
7777

78-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
79-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
80-
dynamicgraph::Vector &computeLineCoordinates(dynamicgraph::Vector &cood, int time);
78+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
79+
int time);
80+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
81+
int time);
82+
dynamicgraph::Vector &computeLineCoordinates(dynamicgraph::Vector &cood,
83+
int time);
8184

8285
virtual void display(std::ostream &os) const;
8386
};

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

Lines changed: 8 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -60,7 +60,8 @@ protected:
6060
/* --- SIGNALS ------------------------------------------------------------ */
6161
public:
6262
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN;
63-
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianReferenceSIN;
63+
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
64+
articularJacobianReferenceSIN;
6465

6566
/*! dynamicgraph::Signals related to the computation of the derivative of
6667
the error
@@ -80,9 +81,12 @@ public:
8081
FeaturePoint6dRelative(const std::string &name);
8182
virtual ~FeaturePoint6dRelative(void) {}
8283

83-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
84-
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
85-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
84+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
85+
int time);
86+
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
87+
int time);
88+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
89+
int time);
8690

8791
virtual void display(std::ostream &os) const;
8892

‎include/sot/core/feature-point6d.hh

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -89,9 +89,12 @@ public:
8989

9090
virtual unsigned int &getDimension(unsigned int &dim, int time);
9191

92-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
93-
virtual dynamicgraph::Vector &computeErrordot(dynamicgraph::Vector &res, int time);
94-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
92+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
93+
int time);
94+
virtual dynamicgraph::Vector &computeErrordot(dynamicgraph::Vector &res,
95+
int time);
96+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
97+
int time);
9598

9699
/** Static Feature selection. */
97100
inline static Flags selectX(void) { return FLAG_LINE_1; }

‎include/sot/core/feature-pose.hh

Lines changed: 9 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -120,21 +120,24 @@ public:
120120
virtual unsigned int &getDimension(unsigned int &dim, int time);
121121

122122
/// Computes \f$ {}^oM^{-1}_{fa} {}^oM_{fb} \ominus {}^{fa}M^*_{fb} \f$
123-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
123+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
124+
int time);
124125
/// Computes \f$ \frac{\partial\ominus}{\partial b} X {}^{fa}\nu^*_{fafb} \f$.
125126
/// There are two different cases, depending on the representation:
126127
/// - R3xSO3Representation: \f$ X = \left( \begin{array}{cc} I_3 & [
127128
/// {}^{fa}t_{fb} ] \\ 0_3 & {{}^{fa}R^*_{fb}}^T \end{array} \right) \f$
128129
/// - SE3Representation: \f$ X = {{}^{fa}X^*_{fb}}^{-1} \f$ (see
129130
/// pinocchio::SE3Base<Scalar,Options>::toActionMatrix)
130-
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
131+
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
132+
int time);
131133
/// Computes \f$ \frac{\partial\ominus}{\partial b} Y \left( {{}^{fb}X_{jb}}
132134
/// {}^{jb}J_{jb} - {{}^{fb}X_{ja}} {}^{ja}J_{ja} \right) \f$. There are two
133135
/// different cases, depending on the representation:
134136
/// - R3xSO3Representation: \f$ Y = \left( \begin{array}{cc} {{}^{fa}R_{fb}} &
135137
/// 0_3 \\ 0_3 & I_3 \end{array} \right) \f$
136138
/// - SE3Representation: \f$ Y = I_6 \f$
137-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
139+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
140+
int time);
138141

139142
/** Static Feature selection. */
140143
inline static Flags selectX(void) { return FLAG_LINE_1; }
@@ -160,10 +163,10 @@ private:
160163
/// \todo Intermediate variables for internal computations
161164
};
162165

163-
template < typename T >
166+
template <typename T>
164167
Vector6d convertVelocity(const MatrixHomogeneous &M,
165-
const MatrixHomogeneous &Mdes,
166-
const Vector &faNufafbDes);
168+
const MatrixHomogeneous &Mdes,
169+
const Vector &faNufafbDes);
167170
#if __cplusplus >= 201103L
168171
extern template class SOT_CORE_DLLAPI FeaturePose<SE3Representation>;
169172
extern template class SOT_CORE_DLLAPI FeaturePose<R3xSO3Representation>;

‎include/sot/core/feature-pose.hxx

Lines changed: 6 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,7 @@ template <Representation_t representation> struct LG_t {
4141
typedef typename boost::mpl::if_c<representation == SE3Representation, SE3_t,
4242
R3xSO3_t>::type type;
4343
};
44-
}
44+
} // namespace internal
4545

4646
/* --------------------------------------------------------------------- */
4747
/* --- CLASS ----------------------------------------------------------- */
@@ -104,11 +104,7 @@ FeaturePose<representation>::FeaturePose(const std::string &pointName)
104104
}
105105

106106
template <Representation_t representation>
107-
FeaturePose<representation>::~FeaturePose()
108-
{
109-
}
110-
111-
107+
FeaturePose<representation>::~FeaturePose() {}
112108

113109
/* --------------------------------------------------------------------- */
114110
/* --------------------------------------------------------------------- */
@@ -261,8 +257,8 @@ Vector &FeaturePose<representation>::computeError(Vector &error, int time) {
261257
// feature (R^3xSO(3) or SE(3)), in the right frame.
262258
template <>
263259
Vector6d convertVelocity<SE3_t>(const MatrixHomogeneous &M,
264-
const MatrixHomogeneous &Mdes,
265-
const Vector &faNufafbDes) {
260+
const MatrixHomogeneous &Mdes,
261+
const Vector &faNufafbDes) {
266262
(void)M;
267263
MatrixTwist X;
268264
buildFrom(Mdes.inverse(Eigen::Affine), X);
@@ -351,6 +347,5 @@ void FeaturePose<representation>::display(std::ostream &os) const {
351347
}
352348
}
353349

354-
355-
}
356-
}
350+
} // namespace sot
351+
} // namespace dynamicgraph

‎include/sot/core/feature-posture.hh

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -53,7 +53,8 @@ class SOTFEATUREPOSTURE_EXPORT FeaturePosture : public FeatureAbstract {
5353

5454
public:
5555
typedef dynamicgraph::SignalPtr<dynamicgraph::Vector, int> signalIn_t;
56-
typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> signalOut_t;
56+
typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
57+
signalOut_t;
5758

5859
DECLARE_NO_REFERENCE;
5960

@@ -65,7 +66,8 @@ public:
6566
protected:
6667
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int);
6768
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int);
68-
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
69+
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
70+
int time);
6971

7072
signalIn_t state_;
7173
signalIn_t posture_;

‎include/sot/core/feature-task.hh

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Original file line numberDiff line numberDiff line change
@@ -40,7 +40,6 @@
4040
namespace dynamicgraph {
4141
namespace sot {
4242

43-
4443
class SOTFEATURETASK_EXPORT FeatureTask : public FeatureGeneric {
4544

4645
public:

‎include/sot/core/feature-vector3.hh

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -70,8 +70,10 @@ public:
7070

7171
virtual unsigned int &getDimension(unsigned int &dim, int time);
7272

73-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
74-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
73+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
74+
int time);
75+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
76+
int time);
7577

7678
virtual void display(std::ostream &os) const;
7779
};

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

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -74,8 +74,10 @@ public:
7474

7575
virtual unsigned int &getDimension(unsigned int &dim, int time);
7676

77-
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
78-
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
77+
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
78+
int time);
79+
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
80+
int time);
7981

8082
/** Static Feature selection. */
8183
inline static Flags selectX(void) { return FLAG_LINE_1; }

‎include/sot/core/fir-filter.hh

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,6 @@
2121
#include <dynamic-graph/command-setter.h>
2222
#include <dynamic-graph/entity.h>
2323

24-
2524
namespace dynamicgraph {
2625
namespace sot {
2726

‎include/sot/core/gradient-ascent.hh

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,6 @@
1818
#include <dynamic-graph/signal-time-dependent.h>
1919
#include <sot/core/config.hh>
2020

21-
2221
namespace dynamicgraph {
2322
namespace sot {
2423

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