resolved formatting comments

Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
gazebosim · Jun 11, 2024 · 3db0e98 · 3db0e98
1 parent 8e730cc
commit 3db0e98
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Showing 4 changed files with 29 additions and 27 deletions.
diff --git a/include/gz/sim/components/WorldAngularVelocityReset.hh b/include/gz/sim/components/WorldAngularVelocityReset.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2019 Open Source Robotics Foundation
+ * Copyright (C) 2024 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -16,7 +16,6 @@
  */
 #ifndef GZ_SIM_COMPONENTS_WORLDANGULARVELOCITYRESET_HH_
 #define GZ_SIM_COMPONENTS_WORLDANGULARELOCITYRESET_HH_
-#include <vector>
 
 #include <gz/math/Vector3.hh>
 #include <gz/sim/components/Component.hh>

diff --git a/include/gz/sim/components/WorldLinearVelocityReset.hh b/include/gz/sim/components/WorldLinearVelocityReset.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2019 Open Source Robotics Foundation
+ * Copyright (C) 2024 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -16,7 +16,6 @@
  */
 #ifndef GZ_SIM_COMPONENTS_WORLDLINEARVELOCITYRESET_HH_
 #define GZ_SIM_COMPONENTS_WORLDLINEARVELOCITYRESET_HH_
-#include <vector>
 
 #include <gz/math/Vector3.hh>
 #include <gz/sim/components/Component.hh>

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
@@ -2593,7 +2593,7 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm)
         return true;
       });
 
-    // Update link linear velocity
+  // Update link linear velocity
   _ecm.Each<components::Link, components::LinearVelocityCmd>(
       [&](const Entity &_entity, const components::Link *,
           const components::LinearVelocityCmd *_linearVelocityCmd)
@@ -2653,7 +2653,7 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm)
         if (!this->entityLinkMap.HasEntity(_entity))
         {
           gzwarn << "Failed to find link [" << _entity
-                  << "]." << std::endl;
+                 << "]." << std::endl;
           return true;
         }
 
@@ -2666,13 +2666,15 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm)
           return true;
 
         auto rootLinkPtr = freeGroup->RootLink();
-        if(rootLinkPtr != linkPtrPhys){
-          gzwarn << "Attempting to set linear velocity for link ["<< _entity
-          <<"] which is not root link of the FreeGroup."
-          <<"Velocity won't be set."<< std::endl;
+        if(rootLinkPtr != linkPtrPhys)
+        {
+          gzwarn << "Attempting to set linear velocity for link [ " << _entity
+                 << " ] which is not root link of the FreeGroup."
+                 << "Velocity won't be set." << std::endl;
 
           return true;
         }
+
         this->entityFreeGroupMap.AddEntity(_entity, freeGroup);
 
         auto worldLinearVelFeature =
@@ -2684,9 +2686,9 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm)
           if (!informed)
           {
             gzdbg << "Attempting to set link linear velocity, but the "
-                   << "physics engine doesn't support velocity commands. "
-                   << "Velocity won't be set."
-                   << std::endl;
+                  << "physics engine doesn't support velocity commands. "
+                  << "Velocity won't be set."
+                  << std::endl;
             informed = true;
           }
           return true;
@@ -2709,7 +2711,7 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm)
         if (!this->entityLinkMap.HasEntity(_entity))
         {
           gzwarn << "Failed to find link [" << _entity
-                  << "]." << std::endl;
+                 << "]." << std::endl;
           return true;
         }
 
@@ -2722,10 +2724,11 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm)
           return true;
 
         auto rootLinkPtr = freeGroup->RootLink();
-        if(rootLinkPtr != linkPtrPhys){
-          gzwarn << "Attempting to set angular velocity for link ["<< _entity
-          <<"] which is not root link of the FreeGroup."
-          <<"Velocity won't be set."<< std::endl;
+        if(rootLinkPtr != linkPtrPhys)
+        {
+          gzwarn << "Attempting to set angular velocity for link [ " << _entity
+                 << " ] which is not root link of the FreeGroup."
+                 << "Velocity won't be set." << std::endl;
 
           return true;
         }
@@ -2742,9 +2745,9 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm)
           if (!informed)
           {
             gzdbg << "Attempting to set link angular velocity, but the "
-                   << "physics engine doesn't support velocity commands. "
-                   << "Velocity won't be set."
-                   << std::endl;
+                  << "physics engine doesn't support velocity commands. "
+                  << "Velocity won't be set."
+                  << std::endl;
             informed = true;
           }
           return true;

diff --git a/src/systems/set_model_state/SetModelState.cc b/src/systems/set_model_state/SetModelState.cc
@@ -213,8 +213,6 @@ void SetModelState::Configure(const Entity &_entity,
       // }
     }
 
-
-
     if (jointPositionSet)
     {
       _ecm.SetComponentData<components::JointPositionReset>(jointEntity,
@@ -229,7 +227,8 @@ void SetModelState::Configure(const Entity &_entity,
   }
   for (auto linkStateElem = modelStateElem->FindElement("link_state");
        linkStateElem != nullptr;
-       linkStateElem = linkStateElem->GetNextElement("link_state")){
+       linkStateElem = linkStateElem->GetNextElement("link_state"))
+  {
 
     std::pair<std::string, bool> namePair =
          linkStateElem->Get<std::string>("name", "");
@@ -248,6 +247,7 @@ void SetModelState::Configure(const Entity &_entity,
       continue;
     }
 
+    //default velocity is initialsed as zero vector.
     math::Vector3d defaultVelocity;
     math::Vector3d linearVelocity;
     math::Vector3d angularVelocity;
@@ -273,15 +273,16 @@ void SetModelState::Configure(const Entity &_entity,
     if(angularVelocityElem){
       std::pair<math::Vector3d, bool> vectorPair =
            angularVelocityElem->Get<math::Vector3d>("", defaultVelocity);
-      if(vectorPair.second){
+      if(vectorPair.second)
+      {
          angularVelocity = vectorPair.first;
          _ecm.SetComponentData<components::WorldAngularVelocityReset>(
                                            linkEntity,
                                            angularVelocity);
+
       }
     }
-
-       }
+  }
 }
 
 //////////////////////////////////////////////////