From 4c710120ec619abb5dd0b6f86c66e390ef2fccd7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 2 Sep 2020 22:04:51 +0200
Subject: [PATCH] Format
---
src/SpringPlugin.cc | 22 ++++++--------------
src/SpringPlugin.hh | 49 ++++++++++++++++++++++++++++-----------------
2 files changed, 37 insertions(+), 34 deletions(-)
diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
index fe442ab..ff4ef36 100644
--- a/src/SpringPlugin.cc
+++ b/src/SpringPlugin.cc
@@ -17,7 +17,6 @@
#include "SpringPlugin.hh"
-
using namespace gazebo;
GZ_REGISTER_MODEL_PLUGIN(SpringPlugin)
@@ -26,9 +25,7 @@ GZ_REGISTER_MODEL_PLUGIN(SpringPlugin)
SpringPlugin::SpringPlugin() {}
/////////////////////////////////////////////////
-void SpringPlugin::Load(physics::ModelPtr lmodel,
- sdf::ElementPtr lsdf)
-{
+void SpringPlugin::Load(physics::ModelPtr lmodel, sdf::ElementPtr lsdf) {
model_ = lmodel;
// hardcoded params for this test
@@ -43,24 +40,18 @@ void SpringPlugin::Load(physics::ModelPtr lmodel,
axisExplicit_ = lsdf->Get<int>("axis");
- ROS_INFO_NAMED("SpringPlugin",
- "Loading joint : %s kp: %f kd: %f alongs %d axis",
- jointExplicitName_.c_str(),
- kpExplicit_,
- kdExplicit_,
- axisExplicit_);
+ ROS_INFO_NAMED("SpringPlugin", "Loading joint : %s kp: %f kd: %f alongs %d axis", jointExplicitName_.c_str(),
+ kpExplicit_, kdExplicit_, axisExplicit_);
}
/////////////////////////////////////////////////
-void SpringPlugin::Init()
-{
+void SpringPlugin::Init() {
jointExplicit_ = model_->GetJoint(jointExplicitName_);
/* jointImplicit->SetStiffnessDamping(0, kpImplicit,
kdImplicit); */
- updateConnection_ = event::Events::ConnectWorldUpdateBegin(
- boost::bind(&SpringPlugin::ExplicitUpdate, this));
+ updateConnection_ = event::Events::ConnectWorldUpdateBegin(boost::bind(&SpringPlugin::ExplicitUpdate, this));
}
/////////////////////////////////////////////////
@@ -80,7 +71,6 @@ void SpringPlugin::ExplicitUpdate() {
double pos = jointExplicit_->Position(axisExplicit_);
#endif
double vel = jointExplicit_->GetVelocity(axisExplicit_);
- double force = -kpExplicit_ * pos
- -kdExplicit_ * vel;
+ double force = -kpExplicit_ * pos - kdExplicit_ * vel;
jointExplicit_->SetForce(axisExplicit_, force);
}
diff --git a/src/SpringPlugin.hh b/src/SpringPlugin.hh
index 3ded1d2..5fcb237 100644
--- a/src/SpringPlugin.hh
+++ b/src/SpringPlugin.hh
@@ -28,33 +28,46 @@
#pragma GCC diagnostic pop
-namespace gazebo
-{
-class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin
-{
-public: SpringPlugin();
-public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
-public: virtual void Init();
+namespace gazebo {
+class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin {
+ public:
+ SpringPlugin();
-private: void ExplicitUpdate();
+ public:
+ virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
-private: event::ConnectionPtr updateConnection_;
+ public:
+ virtual void Init();
-private: physics::ModelPtr model_;
+ private:
+ void ExplicitUpdate();
-private: common::Time prevUpdateTime_;
+ private:
+ event::ConnectionPtr updateConnection_;
-private: physics::JointPtr jointExplicit_;
-private: std::string jointExplicitName_;
+ private:
+ physics::ModelPtr model_;
+
+ private:
+ common::Time prevUpdateTime_;
+
+ private:
+ physics::JointPtr jointExplicit_;
+
+ private:
+ std::string jointExplicitName_;
/// \brief simulate spring/damper with ExplicitUpdate function
-private: double kpExplicit_;
+ private:
+ double kpExplicit_;
/// \brief simulate spring/damper with ExplicitUpdate function
-private: double kdExplicit_;
-
+ private:
+ double kdExplicit_;
+
/// \brief Specify on which axis the spring is applied.
-private: int axisExplicit_;
+ private:
+ int axisExplicit_;
};
-}
+} // namespace gazebo
#endif
--
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