From 1a34cb3754ff46ad858744588172735341c855bf Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Sat, 25 Dec 2010 22:19:22 +0100
Subject: [PATCH] Cosmetic change
* include/sot-dynamic/dynamic.h,
* src/dynamic-command.h,
* src/dynamic.cpp: remove trailing white spaces.
---
include/sot-dynamic/dynamic.h | 22 +++++++++++-----------
src/dynamic-command.h | 6 +++---
src/dynamic.cpp | 22 +++++++++++-----------
3 files changed, 25 insertions(+), 25 deletions(-)
diff --git a/include/sot-dynamic/dynamic.h b/include/sot-dynamic/dynamic.h
index fcef9a8..977720a 100644
--- a/include/sot-dynamic/dynamic.h
+++ b/include/sot-dynamic/dynamic.h
@@ -53,12 +53,12 @@ namespace djj = dynamicsJRLJapan;
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-#if defined (WIN32)
+#if defined (WIN32)
# if defined (dynamic_EXPORTS)
# define SOTDYNAMIC_EXPORT __declspec(dllexport)
-# else
+# else
# define SOTDYNAMIC_EXPORT __declspec(dllimport)
-# endif
+# endif
#else
# define SOTDYNAMIC_EXPORT
#endif
@@ -82,7 +82,7 @@ namespace dg = dynamicgraph;
by the dynamicsJRLJapan library to make it accessible in the stack of tasks.
The robot is described by a VRML file.
*/
-
+
class SOTDYNAMIC_EXPORT Dynamic
:public dg::Entity
{
@@ -95,7 +95,7 @@ class SOTDYNAMIC_EXPORT Dynamic
protected:
public:
- /*! \name Fields to access dynamicsJRLJapan Library
+ /*! \name Fields to access dynamicsJRLJapan Library
@{
*/
@@ -108,7 +108,7 @@ class SOTDYNAMIC_EXPORT Dynamic
int debugInertia;
- /*! \brief Fields to access the humanoid model
+ /*! \brief Fields to access the humanoid model
@{ */
/*! \brief Directory where the VRML humanoid model is stored */
@@ -133,7 +133,7 @@ class SOTDYNAMIC_EXPORT Dynamic
virtual ~Dynamic( void );
public: /* --- MODEL CREATION --- */
-
+
virtual void buildModel( void );
void setVrmlDirectory( const std::string& filename );
@@ -170,7 +170,7 @@ class SOTDYNAMIC_EXPORT Dynamic
bool comActivation( void ) { std::string Property("ComputeCoM");
std::string Value; m_HDR->getProperty(Property,Value); return (Value=="true"); }
void comActivation( const bool& b ) { std::string Property("ComputeCoM");
- std::string Value; if (b) Value="true"; else Value="false"; m_HDR->setProperty(Property,Value); }
+ std::string Value; if (b) Value="true"; else Value="false"; m_HDR->setProperty(Property,Value); }
public: /* --- SIGNAL --- */
@@ -220,7 +220,7 @@ class SOTDYNAMIC_EXPORT Dynamic
ml::Matrix& computeInertia( ml::Matrix& res,int time );
ml::Matrix& computeInertiaReal( ml::Matrix& res,int time );
double& computeFootHeight( double& res,int time );
-
+
ml::Matrix& computeGenericJacobian( CjrlJoint* j,ml::Matrix& res,int time );
ml::Matrix& computeGenericEndeffJacobian( CjrlJoint* j,ml::Matrix& res,int time );
MatrixHomogeneous& computeGenericPosition( CjrlJoint* j,MatrixHomogeneous& res,int time );
@@ -235,7 +235,7 @@ class SOTDYNAMIC_EXPORT Dynamic
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
-
+
public:
/// \name Construction of a robot by commands
///@{
@@ -248,7 +248,7 @@ class SOTDYNAMIC_EXPORT Dynamic
/// \param inJointName name of the joint,
/// \param inJointType type of joint in ["freeflyer","rotation","translation","anchor"],
/// \param inPosition position of the joint (4x4 homogeneous matrix).
- ///
+ ///
/// \note joints are stored in a map with names as keys for retrieval by other
/// commands. An empty CjrlBody is also created and attached to the joint.
void createJoint(const std::string& inJointName,
diff --git a/src/dynamic-command.h b/src/dynamic-command.h
index c322754..1276a79 100644
--- a/src/dynamic-command.h
+++ b/src/dynamic-command.h
@@ -30,7 +30,7 @@ namespace sot {
namespace command {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
-
+
// Command SetFiles
class SetFiles : public Command
{
@@ -151,7 +151,7 @@ namespace sot {
std::vector<Value> values = getParameterValues();
std::string property = values[0].value();
std::string value = values[1].value();
-
+
robot.m_HDR->setProperty(property, value);
return Value();
}
@@ -447,7 +447,7 @@ namespace sot {
robot.setFootParameters(right, soleLength, soleWidth, anklePosition);
return Value();
}
- }; // class Setfootparameters
+ }; // class Setfootparameters
// Command SetGazeParameters
class SetGazeParameters : public Command
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index c234182..80bbba6 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -194,7 +194,7 @@ Dynamic( const std::string & name, bool build )
" - a string: value of the property.\n"
" \n";
addCommand("setProperty", new command::SetProperty(*this, docstring));
-
+
docstring = " \n"
" Get a property\n"
" \n"
@@ -1323,7 +1323,7 @@ void Dynamic::createJoint(const std::string& inJointName,
void Dynamic::setRootJoint(const std::string& inJointName)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1338,7 +1338,7 @@ void Dynamic::setRootJoint(const std::string& inJointName)
void Dynamic::addJoint(const std::string& inParentName,
const std::string& inChildName)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1359,7 +1359,7 @@ void Dynamic::setDofBounds(const std::string& inJointName,
unsigned int inDofId,
double inMinValue, double inMaxValue)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1374,7 +1374,7 @@ void Dynamic::setDofBounds(const std::string& inJointName,
void Dynamic::setMass(const std::string& inJointName, double inMass)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1394,7 +1394,7 @@ void Dynamic::setMass(const std::string& inJointName, double inMass)
void Dynamic::setLocalCenterOfMass(const std::string& inJointName,
ml::Vector inCom)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1414,7 +1414,7 @@ void Dynamic::setLocalCenterOfMass(const std::string& inJointName,
void Dynamic::setInertiaMatrix(const std::string& inJointName,
ml::Matrix inMatrix)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1434,7 +1434,7 @@ void Dynamic::setInertiaMatrix(const std::string& inJointName,
void Dynamic::setSpecificJoint(const std::string& inJointName,
const std::string& inJointType)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1483,7 +1483,7 @@ void Dynamic::setHandParameters(bool inRight, const ml::Vector& inCenter,
const ml::Vector& inForefingerAxis,
const ml::Vector& inPalmNormal)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1507,7 +1507,7 @@ void Dynamic::setFootParameters(bool inRight, const double& inSoleLength,
const double& inSoleWidth,
const ml::Vector& inAnklePosition)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
@@ -1528,7 +1528,7 @@ void Dynamic::setFootParameters(bool inRight, const double& inSoleLength,
void Dynamic::setGazeParameters(const ml::Vector& inGazeOrigin,
const ml::Vector& inGazeDirection)
{
- if (!m_HDR) {
+ if (!m_HDR) {
SOT_THROW ExceptionDynamic(ExceptionDynamic::DYNAMIC_JRL,
"you must create a robot first.");
}
--
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