Apply reformat

ros-controls · Aug 25, 2021 · 3400a9a · 3400a9a
1 parent 8b570e7
commit 3400a9a
Show file tree

Hide file tree

Showing 69 changed files with 1,812 additions and 1,933 deletions.
diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -30,9 +30,9 @@
 #include "diff_drive_controller/odometry.hpp"
 #include "diff_drive_controller/speed_limiter.hpp"
 #include "diff_drive_controller/visibility_control.h"
-#include "hardware_interface/handle.hpp"
 #include "geometry_msgs/msg/twist.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
+#include "hardware_interface/handle.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "odometry.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -42,7 +42,6 @@
 #include "realtime_tools/realtime_publisher.h"
 #include "tf2_msgs/msg/tf_message.hpp"
 
-
 namespace diff_drive_controller
 {
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
@@ -56,16 +55,13 @@ class DiffDriveController : public controller_interface::ControllerInterface
   DiffDriveController();
 
   DIFF_DRIVE_CONTROLLER_PUBLIC
-  controller_interface::return_type
-  init(const std::string & controller_name) override;
+  controller_interface::return_type init(const std::string & controller_name) override;
 
   DIFF_DRIVE_CONTROLLER_PUBLIC
-  controller_interface::InterfaceConfiguration
-  command_interface_configuration() const override;
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
   DIFF_DRIVE_CONTROLLER_PUBLIC
-  controller_interface::InterfaceConfiguration
-  state_interface_configuration() const override;
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
   DIFF_DRIVE_CONTROLLER_PUBLIC
   controller_interface::return_type update() override;
@@ -96,8 +92,7 @@ class DiffDriveController : public controller_interface::ControllerInterface
   };
 
   CallbackReturn configure_side(
-    const std::string & side,
-    const std::vector<std::string> & wheel_names,
+    const std::string & side, const std::vector<std::string> & wheel_names,
     std::vector<WheelHandle> & registered_handles);
 
   std::vector<std::string> left_wheel_names_;
@@ -109,8 +104,8 @@ class DiffDriveController : public controller_interface::ControllerInterface
   struct WheelParams
   {
     size_t wheels_per_side = 0;
-    double separation = 0.0;   // w.r.t. the midpoint of the wheel width
-    double radius = 0.0;       // Assumed to be the same for both wheels
+    double separation = 0.0;  // w.r.t. the midpoint of the wheel width
+    double radius = 0.0;      // Assumed to be the same for both wheels
     double separation_multiplier = 1.0;
     double left_radius_multiplier = 1.0;
     double right_radius_multiplier = 1.0;
@@ -130,21 +125,20 @@ class DiffDriveController : public controller_interface::ControllerInterface
 
   std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Odometry>> odometry_publisher_ = nullptr;
   std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::msg::Odometry>>
-  realtime_odometry_publisher_ = nullptr;
+    realtime_odometry_publisher_ = nullptr;
 
-  std::shared_ptr<rclcpp::Publisher<tf2_msgs::msg::TFMessage>>
-  odometry_transform_publisher_ = nullptr;
+  std::shared_ptr<rclcpp::Publisher<tf2_msgs::msg::TFMessage>> odometry_transform_publisher_ =
+    nullptr;
   std::shared_ptr<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>>
-  realtime_odometry_transform_publisher_ = nullptr;
+    realtime_odometry_transform_publisher_ = nullptr;
 
   // Timeout to consider cmd_vel commands old
   std::chrono::milliseconds cmd_vel_timeout_{500};
 
   bool subscriber_is_active_ = false;
   rclcpp::Subscription<Twist>::SharedPtr velocity_command_subscriber_ = nullptr;
-  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_command_unstamped_subscriber_
-    =
-    nullptr;
+  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr
+    velocity_command_unstamped_subscriber_ = nullptr;
 
   realtime_tools::RealtimeBox<std::shared_ptr<Twist>> received_velocity_msg_ptr_{nullptr};
 
@@ -155,10 +149,9 @@ class DiffDriveController : public controller_interface::ControllerInterface
   SpeedLimiter limiter_angular_;
 
   bool publish_limited_velocity_ = false;
-  std::shared_ptr<rclcpp::Publisher<Twist>> limited_velocity_publisher_ =
+  std::shared_ptr<rclcpp::Publisher<Twist>> limited_velocity_publisher_ = nullptr;
+  std::shared_ptr<realtime_tools::RealtimePublisher<Twist>> realtime_limited_velocity_publisher_ =
     nullptr;
-  std::shared_ptr<realtime_tools::RealtimePublisher<Twist>>
-  realtime_limited_velocity_publisher_ = nullptr;
 
   rclcpp::Time previous_update_timestamp_{0};
 

diff --git a/diff_drive_controller/include/diff_drive_controller/odometry.hpp b/diff_drive_controller/include/diff_drive_controller/odometry.hpp
@@ -29,7 +29,6 @@
 
 namespace diff_drive_controller
 {
-
 class Odometry
 {
 public:
@@ -40,33 +39,17 @@ class Odometry
   void updateOpenLoop(double linear, double angular, const rclcpp::Time & time);
   void resetOdometry();
 
-  double getX() const
-  {
-    return x_;
-  }
-  double getY() const
-  {
-    return y_;
-  }
-  double getHeading() const
-  {
-    return heading_;
-  }
-  double getLinear() const
-  {
-    return linear_;
-  }
-  double getAngular() const
-  {
-    return angular_;
-  }
+  double getX() const { return x_; }
+  double getY() const { return y_; }
+  double getHeading() const { return heading_; }
+  double getLinear() const { return linear_; }
+  double getAngular() const { return angular_; }
 
   void setWheelParams(double wheel_separation, double left_wheel_radius, double right_wheel_radius);
   void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
 
 private:
-  using RollingMeanAccumulator =
-    diff_drive_controller::RollingMeanAccumulator<double>;
+  using RollingMeanAccumulator = diff_drive_controller::RollingMeanAccumulator<double>;
 
   void integrateRungeKutta2(double linear, double angular);
   void integrateExact(double linear, double angular);

diff --git a/diff_drive_controller/include/diff_drive_controller/rolling_mean_accumulator.hpp b/diff_drive_controller/include/diff_drive_controller/rolling_mean_accumulator.hpp
@@ -24,20 +24,18 @@
 
 namespace diff_drive_controller
 {
-
 /**
  * \brief Simplification of boost::accumulators::accumulator_set<double,
  *  bacc::stats<bacc::tag::rolling_mean>> to avoid dragging boost dependencies
  *
  * Computes the mean of the last accumulated elements
  */
-template<typename T>
+template <typename T>
 class RollingMeanAccumulator
 {
 public:
   explicit RollingMeanAccumulator(size_t rolling_window_size)
-  : buffer_(rolling_window_size, 0.0), next_insert_(0),
-    sum_(0.0), buffer_filled_(false)
+  : buffer_(rolling_window_size, 0.0), next_insert_(0), sum_(0.0), buffer_filled_(false)
   {
   }
 

diff --git a/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp b/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp
@@ -40,9 +40,9 @@ class SpeedLimiter
    */
   SpeedLimiter(
     bool has_velocity_limits = false, bool has_acceleration_limits = false,
-    bool has_jerk_limits = false,
-    double min_velocity = NAN, double max_velocity = NAN, double min_acceleration = NAN,
-    double max_acceleration = NAN, double min_jerk = NAN, double max_jerk = NAN);
+    bool has_jerk_limits = false, double min_velocity = NAN, double max_velocity = NAN,
+    double min_acceleration = NAN, double max_acceleration = NAN, double min_jerk = NAN,
+    double max_jerk = NAN);
 
   /**
    * \brief Limit the velocity and acceleration

diff --git a/diff_drive_controller/include/diff_drive_controller/visibility_control.h b/diff_drive_controller/include/diff_drive_controller/visibility_control.h
@@ -26,31 +26,31 @@
 //     https://gcc.gnu.org/wiki/Visibility
 
 #if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define DIFF_DRIVE_CONTROLLER_EXPORT __attribute__ ((dllexport))
-    #define DIFF_DRIVE_CONTROLLER_IMPORT __attribute__ ((dllimport))
-  #else
-    #define DIFF_DRIVE_CONTROLLER_EXPORT __declspec(dllexport)
-    #define DIFF_DRIVE_CONTROLLER_IMPORT __declspec(dllimport)
-  #endif
-  #ifdef DIFF_DRIVE_CONTROLLER_BUILDING_DLL
-    #define DIFF_DRIVE_CONTROLLER_PUBLIC DIFF_DRIVE_CONTROLLER_EXPORT
-  #else
-    #define DIFF_DRIVE_CONTROLLER_PUBLIC DIFF_DRIVE_CONTROLLER_IMPORT
-  #endif
-  #define DIFF_DRIVE_CONTROLLER_PUBLIC_TYPE DIFF_DRIVE_CONTROLLER_PUBLIC
-  #define DIFF_DRIVE_CONTROLLER_LOCAL
+#ifdef __GNUC__
+#define DIFF_DRIVE_CONTROLLER_EXPORT __attribute__((dllexport))
+#define DIFF_DRIVE_CONTROLLER_IMPORT __attribute__((dllimport))
 #else
-  #define DIFF_DRIVE_CONTROLLER_EXPORT __attribute__ ((visibility("default")))
-  #define DIFF_DRIVE_CONTROLLER_IMPORT
-  #if __GNUC__ >= 4
-    #define DIFF_DRIVE_CONTROLLER_PUBLIC __attribute__ ((visibility("default")))
-    #define DIFF_DRIVE_CONTROLLER_LOCAL  __attribute__ ((visibility("hidden")))
-  #else
-    #define DIFF_DRIVE_CONTROLLER_PUBLIC
-    #define DIFF_DRIVE_CONTROLLER_LOCAL
-  #endif
-  #define DIFF_DRIVE_CONTROLLER_PUBLIC_TYPE
+#define DIFF_DRIVE_CONTROLLER_EXPORT __declspec(dllexport)
+#define DIFF_DRIVE_CONTROLLER_IMPORT __declspec(dllimport)
+#endif
+#ifdef DIFF_DRIVE_CONTROLLER_BUILDING_DLL
+#define DIFF_DRIVE_CONTROLLER_PUBLIC DIFF_DRIVE_CONTROLLER_EXPORT
+#else
+#define DIFF_DRIVE_CONTROLLER_PUBLIC DIFF_DRIVE_CONTROLLER_IMPORT
+#endif
+#define DIFF_DRIVE_CONTROLLER_PUBLIC_TYPE DIFF_DRIVE_CONTROLLER_PUBLIC
+#define DIFF_DRIVE_CONTROLLER_LOCAL
+#else
+#define DIFF_DRIVE_CONTROLLER_EXPORT __attribute__((visibility("default")))
+#define DIFF_DRIVE_CONTROLLER_IMPORT
+#if __GNUC__ >= 4
+#define DIFF_DRIVE_CONTROLLER_PUBLIC __attribute__((visibility("default")))
+#define DIFF_DRIVE_CONTROLLER_LOCAL __attribute__((visibility("hidden")))
+#else
+#define DIFF_DRIVE_CONTROLLER_PUBLIC
+#define DIFF_DRIVE_CONTROLLER_LOCAL
+#endif
+#define DIFF_DRIVE_CONTROLLER_PUBLIC_TYPE
 #endif
 
 #endif  // DIFF_DRIVE_CONTROLLER__VISIBILITY_CONTROL_H_