Commit a209f8dc authored by andreadelprete's avatar andreadelprete
Browse files

Fix indentation

parent c3122074
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
* LAAS, CNRS * LAAS, CNRS
* *
* This file is part of HRP2Controller. * 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 * it contains information related to HRP-2 which involves
* that you either purchased the proper license to have access to * that you either purchased the proper license to have access to
* those informations, or that you signed the appropriate * those informations, or that you signed the appropriate
...@@ -57,14 +57,14 @@ SoTHRP2Device::SoTHRP2Device(std::string RobotName): ...@@ -57,14 +57,14 @@ SoTHRP2Device::SoTHRP2Device(std::string RobotName):
std::string docstring; std::string docstring;
/* Command increment. */ /* Command increment. */
docstring = docstring =
"\n" "\n"
" Integrate dynamics for time step provided as input\n" " Integrate dynamics for time step provided as input\n"
"\n" "\n"
" take one floating point number as input\n" " take one floating point number as input\n"
"\n"; "\n";
addCommand("increment", addCommand("increment",
makeCommandVoid1((Device&)*this, makeCommandVoid1((Device&)*this,
&Device::increment, docstring)); &Device::increment, docstring));
sotDEBUGOUT(25); sotDEBUGOUT(25);
} }
...@@ -117,9 +117,9 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn) ...@@ -117,9 +117,9 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn)
it = SensorsIn.find("accelerometer_0"); it = SensorsIn.find("accelerometer_0");
if (it!=SensorsIn.end()) if (it!=SensorsIn.end())
{ {
const vector<double>& accelerometer = const vector<double>& accelerometer =
SensorsIn ["accelerometer_0"].getValues (); SensorsIn ["accelerometer_0"].getValues ();
for (std::size_t i=0; i<3; ++i) for (std::size_t i=0; i<3; ++i)
accelerometer_ (i) = accelerometer [i]; accelerometer_ (i) = accelerometer [i];
accelerometerSOUT_.setConstant (accelerometer_); accelerometerSOUT_.setConstant (accelerometer_);
} }
...@@ -128,7 +128,7 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn) ...@@ -128,7 +128,7 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn)
if (it!=SensorsIn.end()) if (it!=SensorsIn.end())
{ {
const vector<double>& gyrometer = SensorsIn ["gyrometer_0"].getValues (); 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]; gyrometer_ (i) = gyrometer [i];
gyrometerSOUT_.setConstant (gyrometer_); gyrometerSOUT_.setConstant (gyrometer_);
} }
...@@ -173,7 +173,7 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut) ...@@ -173,7 +173,7 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut)
sotDEBUG (25) << "state = " << state_ << std::endl; sotDEBUG (25) << "state = " << state_ << std::endl;
sotDEBUG (25) << "diff = " << ((previousState_.size() == state_.size())? sotDEBUG (25) << "diff = " << ((previousState_.size() == state_.size())?
(state_ - previousState_) : state_ ) << std::endl; (state_ - previousState_) : state_ ) << std::endl;
previousState_ = state_; previousState_ = state_;
// Specify the joint values for the controller. // Specify the joint values for the controller.
......
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
* LAAS, CNRS * LAAS, CNRS
* *
* This file is part of HRP2Controller. * 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 * it contains information related to HRP-2 which involves
* that you either purchased the proper license to havec access to * that you either purchased the proper license to havec access to
* those informations, or that you signed the appropriate * those informations, or that you signed the appropriate
...@@ -29,16 +29,16 @@ ...@@ -29,16 +29,16 @@
namespace dgsot=dynamicgraph::sot; namespace dgsot=dynamicgraph::sot;
class SoTHRP2Device: public class SoTHRP2Device: public
dgsot::Device dgsot::Device
{ {
public: public:
static const std::string CLASS_NAME; static const std::string CLASS_NAME;
static const double TIMESTEP_DEFAULT; static const double TIMESTEP_DEFAULT;
virtual const std::string& getClassName () const virtual const std::string& getClassName () const
{ {
return CLASS_NAME; return CLASS_NAME;
} }
SoTHRP2Device(std::string RobotName); SoTHRP2Device(std::string RobotName);
......
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