Format

include/jrl/walkgen/patterngeneratorinterface.hh

@@ -194,12 +194,10 @@ public:
                              ZMPPosition &ZMPRefPos,
                              COMPosition &COMRefPos) = 0;
 
-
   /*! \brief Rune One Step of the global control loop
    */
-  virtual bool
-  RunOneStepOfTheControlLoop(
-      ControlLoopOneStepArgs &aControlLoopOneStepArgs) =0;
+  virtual bool RunOneStepOfTheControlLoop(
+      ControlLoopOneStepArgs &aControlLoopOneStepArgs) = 0;
   /*! @} */
 
   /*! Set the current joint values of the robot.

include/jrl/walkgen/pgtypes.hh

@@ -60,7 +60,6 @@ struct WALK_GEN_JRL_EXPORT COMPosition_s {
   struct COMPosition_s &operator=(const COMState_s &aCS);
 };
 
-
 inline std::ostream &operator<<(std::ostream &os, const COMPosition_s &aCp) {
   for (size_t i = 0; i < 3; ++i) {
     os << "x[" << i << "] " << aCp.x[i] << " y[" << i << "] " << aCp.y[i]

src/PatternGeneratorInterfacePrivate.cpp

@@ -1212,17 +1212,15 @@ bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
 }
 
 bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
-      ControlLoopOneStepArgs &aControlLoopOneStepArgs) {
-
-   return RunOneStepOfTheControlLoop(
-       aControlLoopOneStepArgs.CurrentConfiguration,
-       aControlLoopOneStepArgs.CurrentVelocity,
-       aControlLoopOneStepArgs.CurrentAcceleration,
-       aControlLoopOneStepArgs.ZMPTarget,
-       aControlLoopOneStepArgs.finalCOMState,
-       aControlLoopOneStepArgs.LeftFootPosition,
-       aControlLoopOneStepArgs.RightFootPosition);
-
+    ControlLoopOneStepArgs &aControlLoopOneStepArgs) {
+
+  return RunOneStepOfTheControlLoop(
+      aControlLoopOneStepArgs.CurrentConfiguration,
+      aControlLoopOneStepArgs.CurrentVelocity,
+      aControlLoopOneStepArgs.CurrentAcceleration,
+      aControlLoopOneStepArgs.ZMPTarget, aControlLoopOneStepArgs.finalCOMState,
+      aControlLoopOneStepArgs.LeftFootPosition,
+      aControlLoopOneStepArgs.RightFootPosition);
 }
 
 bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(

src/patterngeneratorinterfaceprivate.hh

@@ -259,7 +259,6 @@ public:
                                   ZMPPosition &ZMPRefPos,
                                   COMPosition &COMRefPos);
 
-
   bool RunOneStepOfTheControlLoop(ControlLoopOneStepArgs &aControlLoopStepArgs);
   /*! @} */
 

tests/DumpReferencesObjects.cpp

@@ -410,18 +410,16 @@ void DumpReferencesObjects::fillInTestsFormat2(
   prepareFile(aof, prefix, anOneStep);
   vec_db.resize(3);
   vec_db[0] = 0;
-  if (anOneStep.m_LeftFootPosition.stepType==-1)
+  if (anOneStep.m_LeftFootPosition.stepType == -1)
     vec_db[0] = 1.0;
-  else if (anOneStep.m_RightFootPosition.stepType==-1)
-    vec_db[0] =-1.0;
+  else if (anOneStep.m_RightFootPosition.stepType == -1)
+    vec_db[0] = -1.0;
 
   vec_db[1] = 0;
   vec_db[2] = 0;
-  if (m_prevPhase.size()!=3)
+  if (m_prevPhase.size() != 3)
     m_prevPhase.resize(3);
-  aof.unsetf(std::ios::floatfield );
+  aof.unsetf(std::ios::floatfield);
   aof.precision(1);
-  fillFileWithSubsamplingAndClose(aSetOfFillingFileArgs, vec_db,
-                                  m_prevPhase);
-
+  fillFileWithSubsamplingAndClose(aSetOfFillingFileArgs, vec_db, m_prevPhase);
 }

tests/DumpReferencesObjects.hh

@@ -41,12 +41,10 @@ public:
                            Eigen::VectorXd &aCurrentConfiguration);
 
   ///
-  virtual void fillInTestsFormat1(std::string &aTestName,
-                                  OneStep &anOneStep,
+  virtual void fillInTestsFormat1(std::string &aTestName, OneStep &anOneStep,
                                   Eigen::VectorXd &aCurrentConfiguration);
 
-  virtual void fillInTestsFormat2(std::string &aTestName,
-                                  OneStep &anOneStep,
+  virtual void fillInTestsFormat2(std::string &aTestName, OneStep &anOneStep,
                                   Eigen::VectorXd &aCurrentConfiguration);
 
   virtual void
@@ -68,7 +66,7 @@ public:
       m_prevRightAnkledOrientation, m_prevRightAnkleddOrientation;
 
   std::vector<double> m_prevZMPlocal, m_prevZMPlocalF2, m_prevZMPRef,
-    m_prevTorquesF2, m_prevPhase;
+      m_prevTorquesF2, m_prevPhase;
 
   Eigen::Vector3d m_AnklePositionRight, m_AnklePositionLeft;
   /// Add time or not in the dump file