diff --git a/include/dynamic_graph_bridge/ros.hpp b/include/dynamic_graph_bridge/ros.hpp
index 34ff7ebdef8fd90191bd50cbe95ba16316cc0fcc..bbf1e0ec2d2aa5fcb7af071e18c64ccd41c1036f 100644
--- a/include/dynamic_graph_bridge/ros.hpp
+++ b/include/dynamic_graph_bridge/ros.hpp
@@ -7,9 +7,8 @@
#pragma once
-#include <memory>
-
#include <boost/chrono.hpp>
+#include <memory>
// ROS includes
#include "dynamic_graph_bridge_msgs/srv/run_python_command.hpp"
diff --git a/scripts/remote_python_client.py b/scripts/remote_python_client.py
index e3c7023e9c94e02929795dbd7096e6b1016c0512..2fb0432e77aa5c017dd8aaf4ab36d0646bb65dc8 100755
--- a/scripts/remote_python_client.py
+++ b/scripts/remote_python_client.py
@@ -24,10 +24,10 @@ import sys
from pathlib import Path
import rclpy
-from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
# Used to connect to ROS services
from dynamic_graph_bridge.ros.dgcompleter import DGCompleter
+from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
def signal_handler(sig, frame):
diff --git a/src/dg_ros_mapping.cpp b/src/dg_ros_mapping.cpp
index aae712369f4360eaf30a7d29a10375cc91194469..4b491f49c3871f1728062eae42687c2801aea01c 100644
--- a/src/dg_ros_mapping.cpp
+++ b/src/dg_ros_mapping.cpp
@@ -67,11 +67,10 @@ DG_TO_ROS_IMPL(DgRosMappingMatrix) {
// of the copy here.
ros_dst.width = static_cast<unsigned int>(dg_src.rows());
ros_dst.data.resize(static_cast<std::size_t>(dg_src.size()));
- for (int row = 0 ; row < dg_src.rows(); ++row) {
+ for (int row = 0; row < dg_src.rows(); ++row) {
for (int col = 0; col < dg_src.cols(); ++col) {
ros_dst.data[static_cast<unsigned int>(row) * ros_dst.width +
- static_cast<unsigned int>(col)] =
- dg_src(row, col);
+ static_cast<unsigned int>(col)] = dg_src(row, col);
}
}
}
@@ -84,7 +83,8 @@ ROS_TO_DG_IMPL(DgRosMappingMatrix) {
for (int row = 0; row < dg_dst.rows(); ++row) {
for (int col = 0; col < dg_dst.cols(); ++col) {
dg_dst(row, col) =
- ros_src.data[static_cast<std::vector<double>::size_type>(row * rows + col)];
+ ros_src.data[static_cast<std::vector<double>::size_type>(row * rows +
+ col)];
}
}
}
diff --git a/src/dg_ros_mapping.hpp b/src/dg_ros_mapping.hpp
index b9dd8db479402f72a55f5f3d99ef909969127c07..a093667f9d6b4c3195983cf7f017f1a2924e5fb4 100644
--- a/src/dg_ros_mapping.hpp
+++ b/src/dg_ros_mapping.hpp
@@ -11,12 +11,11 @@
#include "fwd.hpp"
// Standard includes
+#include <boost/chrono.hpp>
#include <sstream>
#include <utility>
#include <vector>
-#include <boost/chrono.hpp>
-
// Dynamic Graph types.
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal-ptr.h>
@@ -111,7 +110,8 @@ class DgRosMapping {
/** @brief Output signal type. */
typedef dg::SignalTimeDependent<dg_t, dg::sigtime_t> signal_out_t;
/** @brief Output signal type. */
- typedef dg::SignalTimeDependent<dynamic_graph_bridge::timestamp_t, dg::sigtime_t>
+ typedef dg::SignalTimeDependent<dynamic_graph_bridge::timestamp_t,
+ dg::sigtime_t>
signal_timestamp_out_t;
/** @brief Input signal type. */
typedef dg::SignalPtr<dg_t, dg::sigtime_t> signal_in_t;
@@ -138,9 +138,7 @@ class DgRosMapping {
*
* @param s
*/
- static void set_default(dg_t& d) {
- d = default_value;
- }
+ static void set_default(dg_t& d) { d = default_value; }
/**
* @brief Convert ROS time to boost::chrono.
diff --git a/src/fwd.hpp b/src/fwd.hpp
index bb7d3ab5009746a66c021756e333e557a99b1645..e932d1713e8859ccfbef144d4cf3528923d0f143 100644
--- a/src/fwd.hpp
+++ b/src/fwd.hpp
@@ -10,18 +10,19 @@
#pragma once
+#include <boost/chrono.hpp>
#include <chrono>
-#include <ostream>
#include <iostream>
-#include <boost/chrono.hpp>
+#include <ostream>
namespace dynamic_graph_bridge {
/** @brief Time stamp type. */
-typedef boost::chrono::time_point<boost::chrono::high_resolution_clock> timestamp_t;
+typedef boost::chrono::time_point<boost::chrono::high_resolution_clock>
+ timestamp_t;
} // namespace dynamic_graph_bridge
-//namespace dynamicgraph {
+// namespace dynamicgraph {
/**
* @brief out stream the time stamp data.
*
@@ -32,16 +33,15 @@ typedef boost::chrono::time_point<boost::chrono::high_resolution_clock> timestam
* For clang this function needs to be forward declared before the template
* using it. This is more in accordance to the standard.
*/
-std::ostream &operator<<(
- std::ostream &os,
- const dynamic_graph_bridge::timestamp_t &time_stamp) {
+std::ostream &operator<<(std::ostream &os,
+ const dynamic_graph_bridge::timestamp_t &time_stamp) {
boost::chrono::time_point<boost::chrono::high_resolution_clock,
- boost::chrono::milliseconds>
+ boost::chrono::milliseconds>
time_stamp_nanosec =
- boost::chrono::time_point_cast<boost::chrono::milliseconds>(time_stamp);
+ boost::chrono::time_point_cast<boost::chrono::milliseconds>(
+ time_stamp);
os << time_stamp_nanosec.time_since_epoch().count();
return os;
}
-
//} // namespace dynamicgraph
diff --git a/src/ros_python_interpreter_client.cpp b/src/ros_python_interpreter_client.cpp
index 1a9c05296693ed771c8c944f4a0604ae536a1207..ee4f75a7d3f90485cd962e66445c7c838a76b55f 100644
--- a/src/ros_python_interpreter_client.cpp
+++ b/src/ros_python_interpreter_client.cpp
@@ -71,7 +71,8 @@ std::string RosPythonInterpreterClient::run_python_command(
return_string += response.get()->result;
}
} catch (const std::exception& ex) {
- RCLCPP_INFO(rclcpp::get_logger("RosPythonInterpreterClient"), "%s", ex.what());
+ RCLCPP_INFO(rclcpp::get_logger("RosPythonInterpreterClient"), "%s",
+ ex.what());
connect_to_rosservice_run_python_command(timeout_connection_s_);
} catch (...) {
RCLCPP_INFO(rclcpp::get_logger("RosPythonInterpreterClient"),
diff --git a/src/ros_subscribe.cpp b/src/ros_subscribe.cpp
index ea750604689f6370db2abc7b200165faf7a97b31..907212344b1d299a339b78306461fccdad7376b1 100644
--- a/src/ros_subscribe.cpp
+++ b/src/ros_subscribe.cpp
@@ -6,12 +6,11 @@
* Gesellschaft.
* @date 2019-05-22
*/
-#include "fwd.hpp"
-
#include "ros_subscribe.hpp"
#include <dynamic-graph/factory.h>
+#include "fwd.hpp"
namespace dynamic_graph_bridge {
/*
diff --git a/src/ros_subscribe.hpp b/src/ros_subscribe.hpp
index 4285d2b1048f165cb416d84e4b4e54ca216fdf6e..7be1d0e045c28526833a6d32e19622afb7e7623d 100644
--- a/src/ros_subscribe.hpp
+++ b/src/ros_subscribe.hpp
@@ -127,7 +127,6 @@ class RosSubscribe : public dynamicgraph::Entity {
std::map<std::string, BindedSignal> binded_signals_;
};
-
namespace command {
namespace ros_subscribe {
using ::dynamicgraph::command::Command;
diff --git a/src/sot_loader.cpp b/src/sot_loader.cpp
index bb7a5390a4cf0320bb406e6c28527f1d85216448..6f560663bcfe06beb19f333d8367d63199c4c206 100644
--- a/src/sot_loader.cpp
+++ b/src/sot_loader.cpp
@@ -137,7 +137,7 @@ void SotLoader::readControl(map<string, dgs::ControlValues> &controlValues) {
sotDEBUG(30) << "End ControlValues" << std::endl;
#endif
std::size_t nbOfJoints_std_s = static_cast<std::size_t>(nbOfJoints_);
-
+
// Check if the size if coherent with the robot description.
if (control_.size() != (unsigned int)nbOfJoints_) {
nbOfJoints_ = static_cast<int>(control_.size());
@@ -151,7 +151,7 @@ void SotLoader::readControl(map<string, dgs::ControlValues> &controlValues) {
if (joint_state_.position.size() !=
static_cast<std::size_t>(nbOfJoints_) +
- parallel_joints_to_state_vector_.size()) {
+ parallel_joints_to_state_vector_.size()) {
joint_state_.position.resize(nbOfJoints_std_s +
parallel_joints_to_state_vector_.size());
joint_state_.velocity.resize(nbOfJoints_std_s +
@@ -170,7 +170,8 @@ void SotLoader::readControl(map<string, dgs::ControlValues> &controlValues) {
for (unsigned int i = 0; i < parallel_joints_to_state_vector_.size(); i++) {
joint_state_.position[i + nbOfJoints_std_s] =
coefficient_parallel_joints_[i] *
- angleEncoder_[static_cast<std::size_t>(parallel_joints_to_state_vector_[i])];
+ angleEncoder_[static_cast<std::size_t>(
+ parallel_joints_to_state_vector_[i])];
}
joint_pub_->publish(joint_state_);
@@ -230,8 +231,7 @@ void SotLoader::workThreadLoader() {
/// Declare parameters
if (not has_parameter("dt")) declare_parameter<double>("dt", 0.01);
- if (not has_parameter("paused"))
- declare_parameter<bool>("paused", false);
+ if (not has_parameter("paused")) declare_parameter<bool>("paused", false);
//
get_parameter_or("dt", periodd, 0.001);
diff --git a/tests/impl_test_sot_mock_device.cpp b/tests/impl_test_sot_mock_device.cpp
index 3d85fe286c3e9a9db86455873cb0b884b28bf38c..1bd8e492a23b2b797e0a44ef4a4df396ee35e81d 100644
--- a/tests/impl_test_sot_mock_device.cpp
+++ b/tests/impl_test_sot_mock_device.cpp
@@ -117,8 +117,8 @@ void ImplTestSotMockDevice::setSensorsForce(
sotDEBUG(15) << "Force sensor " << i << std::endl;
int idx_sensor = map_sot_2_urdf[i];
for (std::vector<double>::size_type j = 0; j < 6; ++j) {
- dgforces_(static_cast<Eigen::Index>(j)) =
- forcesIn[static_cast<std::vector<double>::size_type>(idx_sensor * 6) + j];
+ dgforces_(static_cast<Eigen::Index>(j)) = forcesIn
+ [static_cast<std::vector<double>::size_type>(idx_sensor * 6) + j];
sotDEBUG(15) << "Force value " << j << ":"
<< dgforces_(static_cast<Eigen::Index>(j)) << std::endl;
}
@@ -202,7 +202,8 @@ void ImplTestSotMockDevice::setSensorsVelocities(
const vector<double>& velocitiesIn = it->second.getValues();
dgRobotVelocity_.resize(static_cast<Eigen::Index>(velocitiesIn.size()) + 6);
for (unsigned i = 0; i < 6; ++i) dgRobotVelocity_(i) = 0.;
- for (unsigned i = 0; i < static_cast<Eigen::Index>(velocitiesIn.size()); ++i) {
+ for (unsigned i = 0; i < static_cast<Eigen::Index>(velocitiesIn.size());
+ ++i) {
dgRobotVelocity_(i + 6) = velocitiesIn[i];
}
robotVelocity_.setConstant(dgRobotVelocity_);
@@ -298,7 +299,8 @@ void ImplTestSotMockDevice::getControl(
sotDEBUGIN(25);
vector<double> anglesOut, velocityOut;
anglesOut.resize(static_cast<std::vector<double>::size_type>(state_.size()));
- velocityOut.resize(static_cast<std::vector<double>::size_type>(state_.size()));
+ velocityOut.resize(
+ static_cast<std::vector<double>::size_type>(state_.size()));
// Integrate control
sotDEBUG(25) << "state = " << state_ << std::endl;
@@ -317,8 +319,10 @@ void ImplTestSotMockDevice::getControl(
// warning: we make here the asumption that the control signal contains the
// velocity of the freeflyer joint. This may change in the future.
if ((int)anglesOut.size() != state_.size() - 6) {
- anglesOut.resize(static_cast<std::vector<double>::size_type>(state_.size() - 6));
- velocityOut.resize(static_cast<std::vector<double>::size_type>(state_.size() - 6));
+ anglesOut.resize(
+ static_cast<std::vector<double>::size_type>(state_.size() - 6));
+ velocityOut.resize(
+ static_cast<std::vector<double>::size_type>(state_.size() - 6));
}
dg::sigtime_t time = controlSIN.getTime();
diff --git a/tests/launch/launching_test_sot_loader_basic.py b/tests/launch/launching_test_sot_loader_basic.py
index 7ef3489c96c6eebef9a87316e5d0a1023f645116..3ae842710e88d7817a0bda1eae0510368b0c7b11 100644
--- a/tests/launch/launching_test_sot_loader_basic.py
+++ b/tests/launch/launching_test_sot_loader_basic.py
@@ -55,7 +55,7 @@ def generate_test_description():
{"state_vector_map": ["joint1", "joint2"]},
{"robot_description": robot_description_content},
],
- arguments=['--ros-args', '--log-level', 'INFO']
+ arguments=["--ros-args", "--log-level", "INFO"],
)
return (