include/sot/talos_balance/joint-position-controller.hh

@@ -21,75 +21,68 @@
 /* --- API ------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#if defined (WIN32)
-#  if defined (position_controller_EXPORTS)
-#    define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllexport)
-#  else
-#    define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllimport)
-#  endif
+#if defined(WIN32)
+#if defined(position_controller_EXPORTS)
+#define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllexport)
 #else
-#  define JOINTPOSITIONCONTROLLER_EXPORT
+#define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllimport)
+#endif
+#else
+#define JOINTPOSITIONCONTROLLER_EXPORT
 #endif
-
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#include "utils/signal-helper.hh"
-#include "utils/logger.hh"
+#include <dynamic-graph/signal-helper.h>
+
 #include <map>
+
 #include "boost/assign.hpp"
 
 namespace dynamicgraph {
-  namespace sot {
-    namespace talos_balance {
+namespace sot {
+namespace talos_balance {
 
-      /* --------------------------------------------------------------------- */
-      /* --- CLASS ----------------------------------------------------------- */
-      /* --------------------------------------------------------------------- */
-
-      class JOINTPOSITIONCONTROLLER_EXPORT JointPositionController
-	                         : public ::dynamicgraph::Entity
-      {
-        DYNAMIC_GRAPH_ENTITY_DECL();
-
-      public:
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-        /* --- CONSTRUCTOR ---- */
-        JointPositionController( const std::string & name );
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
 
-        void init(const unsigned & n);
+class JOINTPOSITIONCONTROLLER_EXPORT JointPositionController
+    : public ::dynamicgraph::Entity {
+  DYNAMIC_GRAPH_ENTITY_DECL();
 
-        /* --- SIGNALS --- */
-        DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
-        DECLARE_SIGNAL_IN(state, dynamicgraph::Vector);
-        DECLARE_SIGNAL_IN(qDes, dynamicgraph::Vector);
-        DECLARE_SIGNAL_IN(dqDes, dynamicgraph::Vector);
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-        DECLARE_SIGNAL_OUT(dqRef, dynamicgraph::Vector);
+  /* --- CONSTRUCTOR ---- */
+  JointPositionController(const std::string& name);
 
-        /* --- COMMANDS --- */
-        /* --- ENTITY INHERITANCE --- */
-        virtual void display( std::ostream& os ) const;
+  void init(const unsigned& n);
 
-        void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
-        {
-          getLogger().sendMsg("[JointPositionController-"+name+"] "+msg, t, file, line);
-        }
+  /* --- SIGNALS --- */
+  DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(state, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(qDes, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(dqDes, dynamicgraph::Vector);
 
-      protected:
-        int m_n;
-        bool m_initSucceeded;    /// true if the entity has been successfully initialized
-        dynamicgraph::Vector m_Kp;
+  DECLARE_SIGNAL_OUT(dqRef, dynamicgraph::Vector);
 
-      }; // class JointPositionController
+  /* --- COMMANDS --- */
+  /* --- ENTITY INHERITANCE --- */
+  virtual void display(std::ostream& os) const;
 
-    }    // namespace talos_balance
-  }      // namespace sot
-}        // namespace dynamicgraph
+ protected:
+  int m_n;
+  bool
+      m_initSucceeded;  /// true if the entity has been successfully initialized
+  dynamicgraph::Vector m_Kp;
 
+};  // class JointPositionController
 
+}  // namespace talos_balance
+}  // namespace sot
+}  // namespace dynamicgraph
 
-#endif // #ifndef __sot_talos_balance_joint_position_controller_H__
+#endif  // #ifndef __sot_talos_balance_joint_position_controller_H__