Commit 32aab997 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

clang-format

parent 67793588
...@@ -72,9 +72,7 @@ Equilibrium::Equilibrium(const string& name, const double mass, const unsigned i ...@@ -72,9 +72,7 @@ Equilibrium::Equilibrium(const string& name, const double mass, const unsigned i
m_D.block<3, 3>(3, 0) = crossMatrix(-m_mass * m_gravity); m_D.block<3, 3>(3, 0) = crossMatrix(-m_mass * m_gravity);
} }
Equilibrium::~Equilibrium(){ Equilibrium::~Equilibrium() { delete m_solver; }
delete m_solver;
}
bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 contactNormals, bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 contactNormals,
double frictionCoefficient, const bool perturbate) { double frictionCoefficient, const bool perturbate) {
......
...@@ -275,7 +275,8 @@ void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref ...@@ -275,7 +275,8 @@ void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref
void generateContacts(unsigned int N_CONTACTS, double MIN_CONTACT_DISTANCE, double LX, double LY, void generateContacts(unsigned int N_CONTACTS, double MIN_CONTACT_DISTANCE, double LX, double LY,
RVector3& CONTACT_POINT_LOWER_BOUNDS, RVector3& CONTACT_POINT_UPPER_BOUNDS, RVector3& CONTACT_POINT_LOWER_BOUNDS, RVector3& CONTACT_POINT_UPPER_BOUNDS,
RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, centroidal_dynamics::MatrixX3& p, centroidal_dynamics::MatrixX3& N) { RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, centroidal_dynamics::MatrixX3& p,
centroidal_dynamics::MatrixX3& N) {
MatrixXX contact_pos = MatrixXX::Zero(N_CONTACTS, 3); MatrixXX contact_pos = MatrixXX::Zero(N_CONTACTS, 3);
MatrixXX contact_rpy = MatrixXX::Zero(N_CONTACTS, 3); MatrixXX contact_rpy = MatrixXX::Zero(N_CONTACTS, 3);
p.setZero(4 * N_CONTACTS, 3); // contact points p.setZero(4 * N_CONTACTS, 3); // contact points
......
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