fixing format

robosoft-ai · May 14, 2023 · 3bca7a6 · 3bca7a6
1 parent 4ce1e13
commit 3bca7a6
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Showing 25 changed files with 950 additions and 958 deletions.
diff --git a/...ent_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_attach_object.hpp b/...ent_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_attach_object.hpp
@@ -25,19 +25,19 @@
 
 namespace cl_moveit2z
 {
-  class CbAttachObject : public smacc2::SmaccAsyncClientBehavior
-  {
-  public:
-    CbAttachObject(std::string targetObjectName);
+class CbAttachObject : public smacc2::SmaccAsyncClientBehavior
+{
+public:
+  CbAttachObject(std::string targetObjectName);
 
-    CbAttachObject();
+  CbAttachObject();
 
-    virtual void onEntry() override;
+  virtual void onEntry() override;
 
-    virtual void onExit() override;
+  virtual void onExit() override;
 
-    std::string targetObjectName_;
+  std::string targetObjectName_;
 
-  private:
-  };
+private:
+};
 }  // namespace cl_moveit2z
diff --git a/...ent_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_detach_object.hpp b/...ent_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_detach_object.hpp
@@ -26,12 +26,12 @@
 
 namespace cl_moveit2z
 {
-  // releases the current attached object
-  class CbDetachObject : public smacc2::SmaccAsyncClientBehavior
-  {
-  public:
-    virtual void onEntry() override;
+// releases the current attached object
+class CbDetachObject : public smacc2::SmaccAsyncClientBehavior
+{
+public:
+  virtual void onEntry() override;
 
-    virtual void onExit() override;
-  };
+  virtual void onExit() override;
+};
 }  // namespace cl_moveit2z
diff --git a/...y/moveit2z_client/include/moveit2z_client/client_behaviors/cb_execute_last_trajectory.hpp b/...y/moveit2z_client/include/moveit2z_client/client_behaviors/cb_execute_last_trajectory.hpp
@@ -24,16 +24,16 @@
 
 namespace cl_moveit2z
 {
-  class CbExecuteLastTrajectory : public CbMoveEndEffectorTrajectory
-  {
-  public:
-    CbExecuteLastTrajectory();
+class CbExecuteLastTrajectory : public CbMoveEndEffectorTrajectory
+{
+public:
+  CbExecuteLastTrajectory();
 
-    virtual ~CbExecuteLastTrajectory();
+  virtual ~CbExecuteLastTrajectory();
 
-    virtual void generateTrajectory();
+  virtual void generateTrajectory();
 
-    virtual void onEntry() override;
-  };
+  virtual void onEntry() override;
+};
 
 }  // namespace cl_moveit2z
diff --git a/...y/moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_cartesian_relative.hpp b/...y/moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_cartesian_relative.hpp
@@ -25,30 +25,30 @@
 
 namespace cl_moveit2z
 {
-  // Performs a relative motion from the current end effector pose
-  // keeping the same orientation and just moving an offset in the position
-  class CbMoveCartesianRelative : public smacc2::SmaccAsyncClientBehavior
-  {
-  public:
-    geometry_msgs::msg::Vector3 offset_;
+// Performs a relative motion from the current end effector pose
+// keeping the same orientation and just moving an offset in the position
+class CbMoveCartesianRelative : public smacc2::SmaccAsyncClientBehavior
+{
+public:
+  geometry_msgs::msg::Vector3 offset_;
 
-    std::optional<double> scalingFactor_;
+  std::optional<double> scalingFactor_;
 
-    std::optional<std::string> group_;
+  std::optional<std::string> group_;
 
-    CbMoveCartesianRelative();
+  CbMoveCartesianRelative();
 
-    CbMoveCartesianRelative(geometry_msgs::msg::Vector3 offset);
+  CbMoveCartesianRelative(geometry_msgs::msg::Vector3 offset);
 
-    virtual void onEntry() override;
+  virtual void onEntry() override;
 
-    virtual void onExit() override;
+  virtual void onExit() override;
 
-    void moveRelativeCartesian(
-      moveit::planning_interface::MoveGroupInterface * movegroupClient,
-      geometry_msgs::msg::Vector3 & offset);
+  void moveRelativeCartesian(
+    moveit::planning_interface::MoveGroupInterface * movegroupClient,
+    geometry_msgs::msg::Vector3 & offset);
 
-  public:
-    ClMoveit2z * moveGroupSmaccClient_;
-  };
+public:
+  ClMoveit2z * moveGroupSmaccClient_;
+};
 }  // namespace cl_moveit2z
diff --git a/.../moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_cartesian_relative2.hpp b/.../moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_cartesian_relative2.hpp
@@ -28,23 +28,23 @@
 
 namespace cl_moveit2z
 {
-  class CbMoveCartesianRelative2 : public CbMoveEndEffectorTrajectory
-  {
-  public:
-    geometry_msgs::msg::Vector3 offset_;
+class CbMoveCartesianRelative2 : public CbMoveEndEffectorTrajectory
+{
+public:
+  geometry_msgs::msg::Vector3 offset_;
 
-    std::optional<double> linearSpeed_m_s_;
+  std::optional<double> linearSpeed_m_s_;
 
-    CbMoveCartesianRelative2(std::string referenceFrame, std::string tipLink);
+  CbMoveCartesianRelative2(std::string referenceFrame, std::string tipLink);
 
-    CbMoveCartesianRelative2(
-      std::string referenceFrame, std::string tipLink, geometry_msgs::msg::Vector3 offset);
+  CbMoveCartesianRelative2(
+    std::string referenceFrame, std::string tipLink, geometry_msgs::msg::Vector3 offset);
 
-    virtual ~CbMoveCartesianRelative2();
+  virtual ~CbMoveCartesianRelative2();
 
-    void generateTrajectory() override;
+  void generateTrajectory() override;
 
-  private:
-    std::string globalFrame_;
-  };
+private:
+  std::string globalFrame_;
+};
 }  // namespace cl_moveit2z
diff --git a/...library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_end_effector.hpp b/...library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_end_effector.hpp
@@ -25,23 +25,23 @@
 #include <smacc2/smacc_asynchronous_client_behavior.hpp>
 namespace cl_moveit2z
 {
-  class CbMoveEndEffector : public smacc2::SmaccAsyncClientBehavior
-  {
-  public:
-    geometry_msgs::msg::PoseStamped targetPose;
-    std::string tip_link_;
-    std::optional<std::string> group_;
+class CbMoveEndEffector : public smacc2::SmaccAsyncClientBehavior
+{
+public:
+  geometry_msgs::msg::PoseStamped targetPose;
+  std::string tip_link_;
+  std::optional<std::string> group_;
 
-    CbMoveEndEffector();
-    CbMoveEndEffector(geometry_msgs::msg::PoseStamped target_pose, std::string tip_link = "");
+  CbMoveEndEffector();
+  CbMoveEndEffector(geometry_msgs::msg::PoseStamped target_pose, std::string tip_link = "");
 
-    virtual void onEntry() override;
+  virtual void onEntry() override;
 
-  protected:
-    bool moveToAbsolutePose(
-      moveit::planning_interface::MoveGroupInterface & moveGroupInterface,
-      geometry_msgs::msg::PoseStamped & targetObjectPose);
+protected:
+  bool moveToAbsolutePose(
+    moveit::planning_interface::MoveGroupInterface & moveGroupInterface,
+    geometry_msgs::msg::PoseStamped & targetObjectPose);
 
-    ClMoveit2z * movegroupClient_;
-  };
+  ClMoveit2z * movegroupClient_;
+};
 }  // namespace cl_moveit2z
diff --git a/...oveit2z_client/include/moveit2z_client/client_behaviors/cb_move_end_effector_relative.hpp b/...oveit2z_client/include/moveit2z_client/client_behaviors/cb_move_end_effector_relative.hpp
@@ -25,27 +25,27 @@
 
 namespace cl_moveit2z
 {
-  class CbMoveEndEffectorRelative : public smacc2::SmaccAsyncClientBehavior
-  {
-  public:
-    geometry_msgs::msg::Transform transform_;
+class CbMoveEndEffectorRelative : public smacc2::SmaccAsyncClientBehavior
+{
+public:
+  geometry_msgs::msg::Transform transform_;
 
-    std::optional<std::string> group_;
+  std::optional<std::string> group_;
 
-    CbMoveEndEffectorRelative();
+  CbMoveEndEffectorRelative();
 
-    CbMoveEndEffectorRelative(geometry_msgs::msg::Transform transform);
+  CbMoveEndEffectorRelative(geometry_msgs::msg::Transform transform);
 
-    virtual void onEntry() override;
+  virtual void onEntry() override;
 
-    virtual void onExit() override;
+  virtual void onExit() override;
 
-  protected:
-    void moveRelative(
-      moveit::planning_interface::MoveGroupInterface & moveGroupinterface,
-      geometry_msgs::msg::Transform & transformOffset);
+protected:
+  void moveRelative(
+    moveit::planning_interface::MoveGroupInterface & moveGroupinterface,
+    geometry_msgs::msg::Transform & transformOffset);
 
-    ClMoveit2z * movegroupClient_;
-  };
+  ClMoveit2z * movegroupClient_;
+};
 
 }  // namespace cl_moveit2z