From 3ef00a216b32edc1d5a1e4b49d8357b0e1b7588b Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 25 Nov 2020 10:39:04 +0100
Subject: [PATCH] format
---
include/sot/tools/simpleseqplay.hh | 8 ++++----
src/python-module.cc | 32 +++++++++++-------------------
src/simpleseqplay.cc | 8 ++++----
tests/test_simpleseqplay.cc | 6 ++++--
4 files changed, 24 insertions(+), 30 deletions(-)
diff --git a/include/sot/tools/simpleseqplay.hh b/include/sot/tools/simpleseqplay.hh
index 107f1eb..ef12728 100644
--- a/include/sot/tools/simpleseqplay.hh
+++ b/include/sot/tools/simpleseqplay.hh
@@ -40,10 +40,10 @@ class SimpleSeqPlay : public dg::Entity {
void start();
virtual std::string getDocString() const;
- bool waiting () const;
- bool initializing () const;
- bool executing () const;
- bool finished () const;
+ bool waiting() const;
+ bool initializing() const;
+ bool executing() const;
+ bool finished() const;
private:
dg::Vector& computePosture(dg::Vector& pos, int t);
diff --git a/src/python-module.cc b/src/python-module.cc
index 4e9b01c..2977784 100644
--- a/src/python-module.cc
+++ b/src/python-module.cc
@@ -9,32 +9,24 @@
namespace dgst = dynamicgraph::sot::tools;
-typedef boost::mpl::vector<
- dgst::CubicInterpolation
-, dgst::CubicInterpolationSE3
-, dgst::Oscillator
-, dgst::Seqplay
-> entities_t;
+typedef boost::mpl::vector<dgst::CubicInterpolation, dgst::CubicInterpolationSE3, dgst::Oscillator, dgst::Seqplay>
+ entities_t;
-struct register_entity
-{
-template<typename T> inline void operator()(boost::type<T>) const
-{
- dynamicgraph::python::exposeEntity<T>();
-}
+struct register_entity {
+ template <typename T>
+ inline void operator()(boost::type<T>) const {
+ dynamicgraph::python::exposeEntity<T>();
+ }
};
-BOOST_PYTHON_MODULE(wrap)
-{
+BOOST_PYTHON_MODULE(wrap) {
bp::import("dynamic_graph");
boost::mpl::for_each<entities_t, boost::type<boost::mpl::_> >(register_entity());
using dgst::SimpleSeqPlay;
dynamicgraph::python::exposeEntity<SimpleSeqPlay>()
- .def("waiting", &SimpleSeqPlay::waiting)
- .def("initializing", &SimpleSeqPlay::initializing)
- .def("executing", &SimpleSeqPlay::executing)
- .def("finished", &SimpleSeqPlay::finished)
- ;
+ .def("waiting", &SimpleSeqPlay::waiting)
+ .def("initializing", &SimpleSeqPlay::initializing)
+ .def("executing", &SimpleSeqPlay::executing)
+ .def("finished", &SimpleSeqPlay::finished);
}
-
diff --git a/src/simpleseqplay.cc b/src/simpleseqplay.cc
index ffdbeb9..434cdeb 100644
--- a/src/simpleseqplay.cc
+++ b/src/simpleseqplay.cc
@@ -175,10 +175,10 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) {
return pos;
}
-bool SimpleSeqPlay::waiting () const { return state_ == 0; }
-bool SimpleSeqPlay::initializing () const { return state_ == 1; }
-bool SimpleSeqPlay::executing () const { return state_ == 2; }
-bool SimpleSeqPlay::finished () const { return state_ == 3; }
+bool SimpleSeqPlay::waiting() const { return state_ == 0; }
+bool SimpleSeqPlay::initializing() const { return state_ == 1; }
+bool SimpleSeqPlay::executing() const { return state_ == 2; }
+bool SimpleSeqPlay::finished() const { return state_ == 3; }
std::string SimpleSeqPlay::getDocString() const {
return "Provide joint references for a whole-body motion\n"
diff --git a/tests/test_simpleseqplay.cc b/tests/test_simpleseqplay.cc
index 7c4e5af..b5ee5fb 100644
--- a/tests/test_simpleseqplay.cc
+++ b/tests/test_simpleseqplay.cc
@@ -11,8 +11,10 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
BOOST_AUTO_TEST_CASE(test_simpleseqplay) {
dg::sot::tools::SimpleSeqPlay aSimpleSeqPlay("simpleseqplay");
- dg::Vector initial (32);
- initial << 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, 0.0, 0.006761, 0.25847, 0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1, -0.005, -0.25847, -0.173046, 0.0002, -0.525366, 0.0, 0.0, 0.1, -0.005, 0.0, 0.0;
+ dg::Vector initial(32);
+ initial << 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708,
+ 0.0, 0.006761, 0.25847, 0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1, -0.005, -0.25847, -0.173046, 0.0002,
+ -0.525366, 0.0, 0.0, 0.1, -0.005, 0.0, 0.0;
aSimpleSeqPlay.currentPostureSIN_.setConstant(initial);
BOOST_CHECK(aSimpleSeqPlay.waiting());
--
GitLab