Commit a209f8dc authored by andreadelprete's avatar andreadelprete
Browse files

Fix indentation

parent c3122074
......@@ -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.
......
......@@ -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);
......
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