Merge pull request #9 from andreadelprete/fix_indentation

Fix indentation

src/CMakeLists.txt

@@ -73,14 +73,47 @@ PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
 PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
 PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py")
 
-# Add the library to wrap the controller of HRP2-JRL.
+# Add the library to wrap the device of HRP2.
+MACRO(build_hrp2_device)
+
+  SET(DEVICE_NAME sot-hrp2-device)
+  ADD_LIBRARY(${DEVICE_NAME}
+    SHARED
+    sot-hrp2-device.cpp
+  )
+
+  # Link the dynamic library containing the SoT with its dependencies.
+  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "dynamic-graph")
+  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "dynamic-graph-python")
+  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "sot-core")
+
+  ROSPACK_USE_DEPENDENCY(${DEVICE_NAME} "dynamic_graph_bridge")
+
+  IF(UNIX AND NOT APPLE)
+    TARGET_LINK_LIBRARIES(${DEVICE_NAME} ${Boost_LIBRARIES})
+  ENDIF(UNIX AND NOT APPLE)
+
+  INSTALL(TARGETS ${DEVICE_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
+
+  # build python submodule
+  STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${DEVICE_NAME})
+  SET(NEW_ENTITY_CLASS ${ENTITIES})
+  DYNAMIC_GRAPH_PYTHON_MODULE("sot/hrp2/${PYTHON_LIBRARY_NAME}"
+    ${DEVICE_NAME}
+    sot-hrp2-${PYTHON_LIBRARY_NAME}-wrap
+    )
+
+ENDMACRO()
+
+build_hrp2_device()
+
+# Add the library to wrap the controller of HRP2.
 MACRO(build_hrp2_controller robotnumber)
 
   SET(CONTROLLER_NAME sot-hrp2-${robotnumber}-controller)
   ADD_LIBRARY(${CONTROLLER_NAME}
     SHARED
     sot-hrp2-controller.cpp
-    sot-hrp2-device.cpp
     sot-hrp2-${robotnumber}-controller.cpp
   )
 
@@ -91,6 +124,9 @@ MACRO(build_hrp2_controller robotnumber)
 
   ROSPACK_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
 
+  ADD_DEPENDENCIES(${CONTROLLER_NAME} "sot-hrp2-device")
+  TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "sot-hrp2-device")
+
   
   IF(UNIX AND NOT APPLE)
     TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ${Boost_LIBRARIES})
@@ -98,15 +134,8 @@ MACRO(build_hrp2_controller robotnumber)
 
   INSTALL(TARGETS ${CONTROLLER_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
 
-  # build python submodule
-  STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${CONTROLLER_NAME})
-  SET(NEW_ENTITY_CLASS ${ENTITIES})
-  DYNAMIC_GRAPH_PYTHON_MODULE("sot/hrp2/${PYTHON_LIBRARY_NAME}"
-    ${CONTROLLER_NAME}
-    sot-hrp2-${PYTHON_LIBRARY_NAME}-wrap
-    )
-
 ENDMACRO()
 
 build_hrp2_controller("10")
-build_hrp2_controller("14")
\ No newline at end of file
+build_hrp2_controller("14")
+

src/sot-hrp2-device.cpp

@@ -6,7 +6,7 @@
  * LAAS, CNRS
  *
  * This file is part of HRP2Controller.
- * HRP2Controller is not a free software, 
+ * HRP2Controller is not a free software,
  * it contains information related to HRP-2 which involves
  * that you either purchased the proper license to have access to
  * those informations, or that you signed the appropriate
@@ -57,14 +57,14 @@ SoTHRP2Device::SoTHRP2Device(std::string RobotName):
   std::string docstring;
   /* Command increment. */
   docstring =
-    "\n"
-    "    Integrate dynamics for time step provided as input\n"
-    "\n"
-    "      take one floating point number as input\n"
-    "\n";
+      "\n"
+      "    Integrate dynamics for time step provided as input\n"
+      "\n"
+      "      take one floating point number as input\n"
+      "\n";
   addCommand("increment",
-	     makeCommandVoid1((Device&)*this,
-			      &Device::increment, docstring));
+             makeCommandVoid1((Device&)*this,
+                              &Device::increment, docstring));
   
   sotDEBUGOUT(25);
 }
@@ -117,9 +117,9 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn)
   it = SensorsIn.find("accelerometer_0");
   if (it!=SensorsIn.end())
     {
-      const vector<double>& accelerometer = 
-        SensorsIn ["accelerometer_0"].getValues ();
-      for (std::size_t i=0; i<3; ++i) 
+      const vector<double>& accelerometer =
+          SensorsIn ["accelerometer_0"].getValues ();
+      for (std::size_t i=0; i<3; ++i)
         accelerometer_ (i) = accelerometer [i];
       accelerometerSOUT_.setConstant (accelerometer_);
     }
@@ -128,7 +128,7 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn)
   if (it!=SensorsIn.end())
     {
       const vector<double>& gyrometer = SensorsIn ["gyrometer_0"].getValues ();
-      for (std::size_t i=0; i<3; ++i) 
+      for (std::size_t i=0; i<3; ++i)
         gyrometer_ (i) = gyrometer [i];
       gyrometerSOUT_.setConstant (gyrometer_);
     }
@@ -173,7 +173,7 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut)
 
   sotDEBUG (25) << "state = " << state_ << std::endl;
   sotDEBUG (25) << "diff  = " << ((previousState_.size() == state_.size())?
-                   (state_ - previousState_) : state_ ) << std::endl;
+                                    (state_ - previousState_) : state_ ) << std::endl;
   previousState_ = state_;
 
   // Specify the joint values for the controller.

src/sot-hrp2-device.hh

@@ -6,7 +6,7 @@
  * LAAS, CNRS
  *
  * This file is part of HRP2Controller.
- * HRP2Controller is not a free software, 
+ * HRP2Controller is not a free software,
  * it contains information related to HRP-2 which involves
  * that you either purchased the proper license to havec access to
  * those informations, or that you signed the appropriate
@@ -29,16 +29,16 @@
 namespace dgsot=dynamicgraph::sot;
 
 class SoTHRP2Device: public 
-dgsot::Device
+    dgsot::Device
 {
- public:
+public:
 
   static const std::string CLASS_NAME;
   static const double TIMESTEP_DEFAULT;
 
-  virtual const std::string& getClassName () const		
-  {  
-    return CLASS_NAME;							    
+  virtual const std::string& getClassName () const
+  {
+    return CLASS_NAME;
   }
   
   SoTHRP2Device(std::string RobotName);