Format

src/CMakeLists.txt

@@ -17,8 +17,8 @@
 
 SET(LIBRARY_NAME ${PROJECT_NAME})
 SET(IDL_SOURCES
-	rbprmbuilder
-)
+  rbprmbuilder
+  )
 
 INCLUDE(${HPP_CORBASERVER_CMAKE_PLUGIN})
 
@@ -80,27 +80,27 @@ INSTALL(
   )
 INSTALL(
   FILES
-	${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/client.py
-	${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmfullbody.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmstate.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/state_alg.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/fewstepsplanner.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/client.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmfullbody.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmstate.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/state_alg.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/fewstepsplanner.py
   DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
   )
 INSTALL(
   FILES
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/__init__.py
-				${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/generateROMs.py
-				${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/com_constraints.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/plot_analytics.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/affordance_centroids.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/cwc_trajectory.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/cwc_trajectory_helper.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/time_out.py
-        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/display_tools.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/__init__.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/generateROMs.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/com_constraints.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/plot_analytics.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/affordance_centroids.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/cwc_trajectory.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/cwc_trajectory_helper.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/time_out.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/display_tools.py
   DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools
   )
 # Stand alone corba server

src/hpp/corbaserver/rbprm/tools/display_tools.py

 import time
 
 
-def createSphere(name,r,size=0.01,color=[0,0,0,1]):
-  r.client.gui.addSphere(name,size,color)
-  r.client.gui.addToGroup(name,r.sceneName)
-  r.client.gui.setVisibility(name,'ALWAYS_ON_TOP')
-  r.client.gui.refresh()
-
-def moveSphere(name,r,pos):
-  if len(pos) == 3:
-    q=pos+[1,0,0,0]
-  elif len(pos) == 7:
-    q = pos
-  else:
-    raise ValueError("pos should be of size 3 or 7 ")
-  r.client.gui.applyConfiguration(name,q)
-  r.client.gui.refresh()
-
-def displayContactSequence(r,configs,pause=1.):
-  for i in range(0,len(configs)):
-    r(configs[i])
-    time.sleep(pause)	
-
-def moveObject(viewer,pos,rotation=[1,0,0,0]):
-  viewer.client.gui.applyConfiguration(name,pos+rotation)
-  viewer.client.gui.refresh()
-
-def addVector(viewer,rbprmBuilder,color,v,name=None):
-  gui = viewer.client.gui
-  if name==None:
-    i=0
-    name='vector_'+str(i)
-    while name in gui.getNodeList():
-      i=i+1
-      name='sphere_'+str(i)
-  quat = rbprmBuilder.quaternionFromVector(v[3:6])
-  v[3:7] = quat[::]
-  gui.addArrow(name,0.02,1,color)
-  gui.addToGroup(name,viewer.sceneName)
-  gui.setVisibility(name,"ON")
-  gui.applyConfiguration(name,v)
-  gui.refresh()
-
-def displaySurfaceFromPoints(viewer,p_list,color=[0,0,0,1],name=None):
-  gui = viewer.client.gui
-  if name==None:
-    i=0
-    name='surface_'+str(i)
-    while name in gui.getNodeList():
-      i=i+1
-      name='surface_'+str(i)
-  gui.addCurve(name,p_list,color)
-  gui.addToGroup(name,viewer.sceneName)
-  gui.refresh()  
-    
-
+def createSphere(name, r, size=0.01, color=[0, 0, 0, 1]):
+    r.client.gui.addSphere(name, size, color)
+    r.client.gui.addToGroup(name, r.sceneName)
+    r.client.gui.setVisibility(name, 'ALWAYS_ON_TOP')
+    r.client.gui.refresh()
+
+
+def moveSphere(name, r, pos):
+    if len(pos) == 3:
+        q = pos + [1, 0, 0, 0]
+    elif len(pos) == 7:
+        q = pos
+    else:
+        raise ValueError("pos should be of size 3 or 7 ")
+    r.client.gui.applyConfiguration(name, q)
+    r.client.gui.refresh()
+
+
+def displayContactSequence(r, configs, pause=1.):
+    for i in range(0, len(configs)):
+        r(configs[i])
+        time.sleep(pause)
+
+
+def moveObject(viewer, pos, rotation=[1, 0, 0, 0]):
+    viewer.client.gui.applyConfiguration(name, pos + rotation)  # noqa TODO
+    viewer.client.gui.refresh()
+
+
+def addVector(viewer, rbprmBuilder, color, v, name=None):
+    gui = viewer.client.gui
+    if name is None:
+        i = 0
+        name = 'vector_' + str(i)
+        while name in gui.getNodeList():
+            i = i + 1
+            name = 'sphere_' + str(i)
+    quat = rbprmBuilder.quaternionFromVector(v[3:6])
+    v[3:7] = quat[::]
+    gui.addArrow(name, 0.02, 1, color)
+    gui.addToGroup(name, viewer.sceneName)
+    gui.setVisibility(name, "ON")
+    gui.applyConfiguration(name, v)
+    gui.refresh()
+
+
+def displaySurfaceFromPoints(viewer, p_list, color=[0, 0, 0, 1], name=None):
+    gui = viewer.client.gui
+    if name is None:
+        i = 0
+        name = 'surface_' + str(i)
+        while name in gui.getNodeList():
+            i = i + 1
+            name = 'surface_' + str(i)
+    gui.addCurve(name, p_list, color)
+    gui.addToGroup(name, viewer.sceneName)
+    gui.refresh()