Remove aligned_vector file / redo indentation in helpers

include/curves/helpers/effector_spline.h

@@ -24,97 +24,96 @@
 
 namespace curves
 {
-namespace helpers
-{
-typedef double Numeric;
-typedef double Time;
-typedef Eigen::Matrix<Numeric, 3, 1> Point;
-typedef std::vector<Point,Eigen::aligned_allocator<Point> > T_Point;
-typedef std::pair<double, Point> Waypoint;
-typedef std::vector<Waypoint> T_Waypoint;
-typedef exact_cubic<Time, Numeric, 3, true, Point, T_Point> exact_cubic_t;
-typedef exact_cubic_t::spline_constraints spline_constraints_t;
-typedef exact_cubic_t::t_spline_t t_spline_t;
-typedef exact_cubic_t::spline_t spline_t;
+  namespace helpers
+  {
+    typedef double Numeric;
+    typedef double Time;
+    typedef Eigen::Matrix<Numeric, 3, 1> Point;
+    typedef std::vector<Point,Eigen::aligned_allocator<Point> > T_Point;
+    typedef std::pair<double, Point> Waypoint;
+    typedef std::vector<Waypoint> T_Waypoint;
+    typedef exact_cubic<Time, Numeric, 3, true, Point, T_Point> exact_cubic_t;
+    typedef exact_cubic_t::spline_constraints spline_constraints_t;
+    typedef exact_cubic_t::t_spline_t t_spline_t;
+    typedef exact_cubic_t::spline_t spline_t;
 
-/// \brief Compute time such that the equation from source to offsetpoint is necessarily a line.
-Waypoint compute_offset(const Waypoint& source, const Point& normal, const Numeric offset, const Time time_offset)
-{
-    Numeric norm = normal.norm();
-    assert(norm>0.);
-    return std::make_pair(source.first + time_offset,(source.second + normal / norm* offset));
-}
+    /// \brief Compute time such that the equation from source to offsetpoint is necessarily a line.
+    Waypoint compute_offset(const Waypoint& source, const Point& normal, const Numeric offset, const Time time_offset)
+    {
+      Numeric norm = normal.norm();
+      assert(norm>0.);
+      return std::make_pair(source.first + time_offset,(source.second + normal / norm* offset));
+    }
 
-/// \brief Compute spline from land way point to end point.
-/// Constraints are null velocity and acceleration.
-spline_t make_end_spline(const Point& normal, const Point& from, const Numeric offset,
-                         const Time init_time, const Time time_offset)
-{
-    Numeric norm = normal.norm();
-    assert(norm>0.);
-    Point n = normal / norm;
-    Point d = offset / (time_offset*time_offset*time_offset) * -n;
-    Point c = -3 * d * time_offset;
-    Point b = -c * time_offset;
+    /// \brief Compute spline from land way point to end point.
+    /// Constraints are null velocity and acceleration.
+    spline_t make_end_spline(const Point& normal, const Point& from, const Numeric offset,
+                             const Time init_time, const Time time_offset)
+    {
+      Numeric norm = normal.norm();
+      assert(norm>0.);
+      Point n = normal / norm;
+      Point d = offset / (time_offset*time_offset*time_offset) * -n;
+      Point c = -3 * d * time_offset;
+      Point b = -c * time_offset;
+      T_Point points;
+      points.push_back(from);
+      points.push_back(b);
+      points.push_back(c);
+      points.push_back(d);
+      return spline_t(points.begin(), points.end(), init_time, init_time+time_offset);
+    }
 
-    T_Point points;
-    points.push_back(from);
-    points.push_back(b);
-    points.push_back(c);
-    points.push_back(d);
+    /// \brief Compute end velocity : along landing normal and respecting time.
+    spline_constraints_t compute_required_offset_velocity_acceleration(const spline_t& end_spline, const Time /*time_offset*/)
+    {
+      spline_constraints_t constraints;
+      constraints.end_acc = end_spline.derivate(end_spline.min(),2);
+      constraints.end_vel = end_spline.derivate(end_spline.min(),1);
+      return constraints;
+    }
 
-    return spline_t(points.begin(), points.end(), init_time, init_time+time_offset);
-}
 
-/// \brief Compute end velocity : along landing normal and respecting time.
-spline_constraints_t compute_required_offset_velocity_acceleration(const spline_t& end_spline, const Time /*time_offset*/)
-{
-    spline_constraints_t constraints;
-    constraints.end_acc = end_spline.derivate(end_spline.min(),2);
-    constraints.end_vel = end_spline.derivate(end_spline.min(),1);
-    return constraints;
-}
-
-
-/// \brief Helper method to create a spline typically used to
-/// guide the 3d trajectory of a robot end effector.
-/// Given a set of waypoints, and the normal vector of the start and
-/// ending positions, automatically create the spline such that:
-/// + init and end velocities / accelerations are 0.
-/// + the effector lifts and lands exactly in the direction of the specified normals.
-/// \param wayPointsBegin   : an iterator pointing to the first element of a waypoint container.
-/// \param wayPointsEnd     : an iterator pointing to the last element of a waypoint container.
-/// \param lift_normal      : normal to be followed by end effector at take-off.
-/// \param land_normal      : normal to be followed by end effector at landing.
-/// \param lift_offset      : length of the straight line along normal at take-off.
-/// \param land_offset      : length of the straight line along normal at landing.
-/// \param lift_offset_duration : time travelled along straight line at take-off.
-/// \param land_offset_duration : time travelled along straight line at landing.
-///
-template<typename In>
-exact_cubic_t* effector_spline(
-        In wayPointsBegin, In wayPointsEnd, const Point& lift_normal=Eigen::Vector3d::UnitZ(), const Point& land_normal=Eigen::Vector3d::UnitZ(),
-        const Numeric lift_offset=0.02, const Numeric land_offset=0.02,
-        const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
-{
-    T_Waypoint waypoints;
-    const Waypoint& inPoint=*wayPointsBegin, endPoint =*(wayPointsEnd-1);
-    waypoints.push_back(inPoint);
-    //adding initial offset
-    waypoints.push_back(compute_offset(inPoint, lift_normal ,lift_offset, lift_offset_duration));
-    //inserting all waypoints but last
-    waypoints.insert(waypoints.end(),wayPointsBegin+1,wayPointsEnd-1);
-    //inserting waypoint to start landing
-    const Waypoint& landWaypoint=compute_offset(endPoint, land_normal ,land_offset, -land_offset_duration);
-    waypoints.push_back(landWaypoint);
-    //specifying end velocity constraint such that landing will be in straight line
-    spline_t end_spline=make_end_spline(land_normal,landWaypoint.second,land_offset,landWaypoint.first,land_offset_duration);
-    spline_constraints_t constraints = compute_required_offset_velocity_acceleration(end_spline,land_offset_duration);
-    exact_cubic_t all_but_end(waypoints.begin(), waypoints.end(),constraints);
-    t_spline_t splines = all_but_end.curves_;
-    splines.push_back(end_spline);
-    return new exact_cubic_t(splines);
-}
-} // namespace helpers
+    /// \brief Helper method to create a spline typically used to
+    /// guide the 3d trajectory of a robot end effector.
+    /// Given a set of waypoints, and the normal vector of the start and
+    /// ending positions, automatically create the spline such that:
+    /// + init and end velocities / accelerations are 0.
+    /// + the effector lifts and lands exactly in the direction of the specified normals.
+    /// \param wayPointsBegin   : an iterator pointing to the first element of a waypoint container.
+    /// \param wayPointsEnd     : an iterator pointing to the last element of a waypoint container.
+    /// \param lift_normal      : normal to be followed by end effector at take-off.
+    /// \param land_normal      : normal to be followed by end effector at landing.
+    /// \param lift_offset      : length of the straight line along normal at take-off.
+    /// \param land_offset      : length of the straight line along normal at landing.
+    /// \param lift_offset_duration : time travelled along straight line at take-off.
+    /// \param land_offset_duration : time travelled along straight line at landing.
+    ///
+    template<typename In>
+    exact_cubic_t* effector_spline(In wayPointsBegin, In wayPointsEnd, 
+                                   const Point& lift_normal=Eigen::Vector3d::UnitZ(), 
+                                   const Point& land_normal=Eigen::Vector3d::UnitZ(),
+                                   const Numeric lift_offset=0.02, const Numeric land_offset=0.02,
+                                   const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
+    {
+      T_Waypoint waypoints;
+      const Waypoint& inPoint=*wayPointsBegin, endPoint =*(wayPointsEnd-1);
+      waypoints.push_back(inPoint);
+      //adding initial offset
+      waypoints.push_back(compute_offset(inPoint, lift_normal ,lift_offset, lift_offset_duration));
+      //inserting all waypoints but last
+      waypoints.insert(waypoints.end(),wayPointsBegin+1,wayPointsEnd-1);
+      //inserting waypoint to start landing
+      const Waypoint& landWaypoint=compute_offset(endPoint, land_normal ,land_offset, -land_offset_duration);
+      waypoints.push_back(landWaypoint);
+      //specifying end velocity constraint such that landing will be in straight line
+      spline_t end_spline=make_end_spline(land_normal,landWaypoint.second,land_offset,landWaypoint.first,land_offset_duration);
+      spline_constraints_t constraints = compute_required_offset_velocity_acceleration(end_spline,land_offset_duration);
+      exact_cubic_t all_but_end(waypoints.begin(), waypoints.end(),constraints);
+      t_spline_t splines = all_but_end.curves_;
+      splines.push_back(end_spline);
+      return new exact_cubic_t(splines);
+    }
+  } // namespace helpers
 } // namespace curves
 #endif //_CLASS_EFFECTORSPLINE

include/curves/serialization/CMakeLists.txt

 SET(${PROJECT_NAME}_SERIALIZATION_HEADERS
-  aligned-vector.hpp
   archive.hpp
   eigen-matrix.hpp
   fwd.hpp