[Format]

include/jrl/walkgen/pinocchiorobot.hh

@@ -43,13 +43,9 @@ struct PinocchioRobotFoot_t {
   Eigen::Vector3d anklePosition;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  inline PinocchioRobotFoot_t():
-      associatedAnkle(0),
-      soleDepth(0.0),
-      soleWidth(0.0),
-      soleHeight(0.0),
-      anklePosition(0.0,0.0,0.0) {}
-      
+  inline PinocchioRobotFoot_t()
+      : associatedAnkle(0), soleDepth(0.0), soleWidth(0.0), soleHeight(0.0),
+        anklePosition(0.0, 0.0, 0.0) {}
 };
 typedef PinocchioRobotFoot_t PRFoot;
 

src/Clock.cpp

@@ -46,7 +46,8 @@ Clock::Clock() {
 
   struct timeval startingtime;
   gettimeofday(&startingtime, 0);
-  m_StartingTime = (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
+  m_StartingTime =
+      (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
 }
 
 Clock::~Clock() {}
@@ -58,23 +59,24 @@ void Clock::Reset() {
 
   struct timeval startingtime;
   gettimeofday(&startingtime, 0);
-  m_StartingTime = (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
+  m_StartingTime =
+      (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
 }
 
 void Clock::StartTiming() { gettimeofday(&m_BeginTimeStamp, 0); }
 
 void Clock::StopTiming() {
   gettimeofday(&m_EndTimeStamp, 0);
-  double ltime = (double)m_EndTimeStamp.tv_sec - (double)m_BeginTimeStamp.tv_sec +
-                 0.000001 * (double)(m_EndTimeStamp.tv_usec - m_BeginTimeStamp.tv_usec);
+  double ltime =
+      (double)m_EndTimeStamp.tv_sec - (double)m_BeginTimeStamp.tv_sec +
+      0.000001 * (double)(m_EndTimeStamp.tv_usec - m_BeginTimeStamp.tv_usec);
 
   m_MaximumTime = m_MaximumTime < ltime ? ltime : m_MaximumTime;
   m_TotalTime += ltime;
 
   m_DataBuffer[(m_NbOfIterations * 2) % 3000000] =
-                                  (double)m_BeginTimeStamp.tv_sec +
-                                  0.000001 * (double)m_BeginTimeStamp.tv_usec -
-                                  m_StartingTime;
+      (double)m_BeginTimeStamp.tv_sec +
+      0.000001 * (double)m_BeginTimeStamp.tv_usec - m_StartingTime;
   m_DataBuffer[(m_NbOfIterations * 2 + 1) % 3000000] = ltime;
 }
 

src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp

@@ -52,11 +52,8 @@ int CoMAndFootOnlyStrategy::InitInterObjects(
 int CoMAndFootOnlyStrategy::OneGlobalStepOfControl(
     FootAbsolutePosition &LeftFootPosition,
     FootAbsolutePosition &RightFootPosition, Eigen::VectorXd &ZMPRefPos,
-    COMState &finalCOMPosition,
-    Eigen::VectorXd & CurrentConfiguration,
-    Eigen::VectorXd & CurrentVelocity,
-    Eigen::VectorXd & CurrentAcceleration)
-{
+    COMState &finalCOMPosition, Eigen::VectorXd &CurrentConfiguration,
+    Eigen::VectorXd &CurrentVelocity, Eigen::VectorXd &CurrentAcceleration) {
   ODEBUG("Begin OneGlobalStepOfControl "
          << m_LeftFootPositions->size() << " " << m_RightFootPositions->size()
          << " " << m_COMBuffer->size() << " " << m_ZMPPositions->size());

src/Mathematics/PLDPSolver.cpp

@@ -348,8 +348,7 @@ int PLDPSolver::BackwardSubstitution() {
   for (std::vector<unsigned int>::size_type i = SizeOfL - 1;; i--) {
     double tmp = 0.0;
     m_v2[i] = m_y[i];
-    for (std::vector<unsigned int>::size_type k = i + 1;
-         k < SizeOfL; k++) {
+    for (std::vector<unsigned int>::size_type k = i + 1; k < SizeOfL; k++) {
       if (k == SizeOfL - 1)
         tmp = m_v2[i];
 
@@ -361,7 +360,8 @@ int PLDPSolver::BackwardSubstitution() {
     ODEBUG("BS: m_L[i*m_NbMaxOfConstraints+i]:"
            << m_L[i * m_NbMaxOfConstraints + i] << " " << m_y[i]);
     ODEBUG("m_v2[" << i << " ] = " << m_v2[i] << " " << tmp);
-    if (i==0) break;
+    if (i == 0)
+      break;
   }
   return 0;
 }

src/MotionGeneration/GenerateMotionFromKineoWorks.cpp

@@ -290,7 +290,7 @@ void GenerateMotionFromKineoWorks::ComputeUpperBodyPosition(
   //! For each way-point of the path
   for (unsigned int IdWayPoint = 1; IdWayPoint < m_Path.size(); IdWayPoint++) {
     int CountTarget = -1;
-    double lX = 0.0, lY=0.0, lZ=0.0, dist = 1000000.0;
+    double lX = 0.0, lY = 0.0, lZ = 0.0, dist = 1000000.0;
 
     //! The references are specific to the current hybrid model.
     lX = m_Path[IdWayPoint].Joints[6];
@@ -301,9 +301,9 @@ void GenerateMotionFromKineoWorks::ComputeUpperBodyPosition(
     // part of the CoM buffer.
     for (unsigned int i = count; i < m_COMBuffer.size(); i++) {
       double ldist = (lX - m_COMBuffer[i].x[0]) * (lX - m_COMBuffer[i].x[0]) +
-                     (lY - m_COMBuffer[i].y[0])*(lY-m_COMBuffer[i].y[0]) +
-                     (lZ - m_COMBuffer[i].z[0])*(lZ-m_COMBuffer[i].z[0]);
-      
+                     (lY - m_COMBuffer[i].y[0]) * (lY - m_COMBuffer[i].y[0]) +
+                     (lZ - m_COMBuffer[i].z[0]) * (lZ - m_COMBuffer[i].z[0]);
+
       if (ldist < dist) {
         dist = ldist;
         CountTarget = i;

src/MotionGeneration/StepOverPlanner.cpp

@@ -841,8 +841,7 @@ void StepOverPlanner::PolyPlannerFirstStep(
   ZfootSpeedBound(0) = 0.0;
   ZfootSpeedBound(1) = 0.0;
 
-  int NumberIntermediate = 0, Counter = 0,
-      CounterTemp = 0;
+  int NumberIntermediate = 0, Counter = 0, CounterTemp = 0;
   double IntermediateTimeStep;
 
   NumberIntermediate = 10;

src/PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp

@@ -170,10 +170,10 @@ void ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(
   if (StageOfTheAlgorithm == 0) {
     /* Update the current configuration vector */
     m_PinocchioRobot->currentRPYConfiguration(CurrentConfiguration);
-    
+
     /* Update the current velocity vector */
     m_PinocchioRobot->currentRPYVelocity(CurrentVelocity);
-    
+
     /* Update the current acceleration vector */
     m_PinocchioRobot->currentRPYAcceleration(CurrentAcceleration);
   }
@@ -201,11 +201,10 @@ int ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(
                     << aRightFAP.x << " " << aRightFAP.y << " " << aRightFAP.z,
                 "1ststage.dat");
 
-  int StageOfTheAlgorithm=0;
-  CallToComAndFootRealization(acompos, aLeftFAP, aRightFAP,
-                              CurrentConfiguration, CurrentVelocity,
-                              CurrentAcceleration, m_NumberOfIterations,
-                              StageOfTheAlgorithm);
+  int StageOfTheAlgorithm = 0;
+  CallToComAndFootRealization(
+      acompos, aLeftFAP, aRightFAP, CurrentConfiguration, CurrentVelocity,
+      CurrentAcceleration, m_NumberOfIterations, StageOfTheAlgorithm);
 
   if (m_StageStrategy != ZMPCOM_TRAJECTORY_FIRST_STAGE_ONLY)
     EvaluateMultiBodyZMP(-1);
@@ -224,11 +223,11 @@ int ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(
       "2ndStage.dat");
 
   if (m_StageStrategy != ZMPCOM_TRAJECTORY_FIRST_STAGE_ONLY) {
-    int StageOfTheAlgorithm=1;
+    int StageOfTheAlgorithm = 1;
     CallToComAndFootRealization(
         refandfinalCOMState, aLeftFAP, aRightFAP, CurrentConfiguration,
         CurrentVelocity, CurrentAcceleration, m_NumberOfIterations - m_NL,
-                                StageOfTheAlgorithm);
+        StageOfTheAlgorithm);
   }
 
   // Here it is assumed that the 4x4 CoM matrix
@@ -290,17 +289,17 @@ int ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(
   RightFootPosition = m_FIFORightFootPosition[0];
 
   double Deltazmpx2, Deltazmpy2;
-    
+
   // Preview control on delta ZMP.
   if ((m_StageStrategy == ZMPCOM_TRAJECTORY_SECOND_STAGE_ONLY) ||
       (m_StageStrategy == ZMPCOM_TRAJECTORY_FULL)) {
     ODEBUG2(m_FIFODeltaZMPPositions[0].px << " "
-            << m_FIFODeltaZMPPositions[0].py);
+                                          << m_FIFODeltaZMPPositions[0].py);
 
     ODEBUG("Second Stage Size of FIFODeltaZMPPositions: "
-            << m_FIFODeltaZMPPositions.size() << " " << m_Deltax << " "
-            << m_Deltay << " " << m_sxDeltazmp << " " << m_syDeltazmp << " "
-            << Deltazmpx2 << " " << Deltazmpy2);
+           << m_FIFODeltaZMPPositions.size() << " " << m_Deltax << " "
+           << m_Deltay << " " << m_sxDeltazmp << " " << m_syDeltazmp << " "
+           << Deltazmpx2 << " " << Deltazmpy2);
 
     m_PC->OneIterationOfPreview(m_Deltax, m_Deltay, m_sxDeltazmp, m_syDeltazmp,
                                 m_FIFODeltaZMPPositions, 0, Deltazmpx2,
@@ -561,11 +560,11 @@ int ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase(
                     << aRightFAP.x << " " << aRightFAP.y << " " << aRightFAP.z,
                 "ZMPPCWMZOGSOC.dat");
 
-  int StageOfTheAlgorithm=0;
+  int StageOfTheAlgorithm = 0;
   CallToComAndFootRealization(
       m_FIFOCOMStates[localindex], m_FIFOLeftFootPosition[localindex],
-      m_FIFORightFootPosition[localindex], CurrentConfiguration, CurrentVelocity,
-      CurrentAcceleration, m_NumberOfIterations,
+      m_FIFORightFootPosition[localindex], CurrentConfiguration,
+      CurrentVelocity, CurrentAcceleration, m_NumberOfIterations,
       StageOfTheAlgorithm);
 
   EvaluateMultiBodyZMP(localindex);

src/SimplePluginManager.cpp

@@ -114,7 +114,7 @@ bool SimplePluginManager::CallMethod(string &MethodName, istringstream &istrm) {
   stringbuf *pbuf;
   pbuf = istrm.rdbuf();
 
-  std::streamsize  size = pbuf->in_avail();
+  std::streamsize size = pbuf->in_avail();
   char aBuffer[65636];
   assert(size < 65635);
 

src/privatepgtypes.cpp

@@ -221,7 +221,7 @@ void linear_inequality_t::clear() {
   Dc_vec.setZero();
 }
 
-void linear_inequality_t::resize(int NbRows, int NbCols, bool ) {
+void linear_inequality_t::resize(int NbRows, int NbCols, bool) {
 
   D.X_mat.resize(NbRows, NbCols);
   D.Y_mat.resize(NbRows, NbCols);