Skip to content

Commit 461d122

Browse files
nim65snim65s
committed
Format
1 parent 90876e4 commit 461d122

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

46 files changed

+163
-125
lines changed

‎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);

0 commit comments

Comments
 (0)