Renamed values of ReferenceType enum to follow google style guide

Author: TimSchneider42

examples/linear.cpp

@@ -21,11 +21,11 @@ int main(int argc, char *argv[]) {
 
   // Define and move forwards
   auto way = mk_affine(0.0, 0.05, 0.0);
-  auto motion_forward = std::make_shared<CartesianMotion>(RobotPose(way), ReferenceType::Relative);
+  auto motion_forward = std::make_shared<CartesianMotion>(RobotPose(way), ReferenceType::kRelative);
   robot.move(motion_forward);
 
   // And move backwards using the inverse motion
-  auto motion_backward = std::make_shared<CartesianMotion>(RobotPose(way.inverse()), ReferenceType::Relative);
+  auto motion_backward = std::make_shared<CartesianMotion>(RobotPose(way.inverse()), ReferenceType::kRelative);
   robot.move(motion_backward);
 
   return 0;

include/franky/motion/cartesian_motion.hpp

@@ -24,7 +24,7 @@ class CartesianMotion : public CartesianWaypointMotion {
    */
   explicit CartesianMotion(
       const CartesianState &target,
-      ReferenceType reference_type = ReferenceType::Absolute,
+      ReferenceType reference_type = ReferenceType::kAbsolute,
       const RelativeDynamicsFactor &relative_dynamics_factor = 1.0,
       bool return_when_finished = true,
       const Affine &frame = Affine::Identity());

include/franky/motion/impedance_motion.hpp

@@ -26,7 +26,7 @@ class ImpedanceMotion : public Motion<franka::Torques> {
    */
   struct Params {
     /** The type of the target reference (relative or absolute). */
-    ReferenceType target_type{ReferenceType::Absolute};
+    ReferenceType target_type{ReferenceType::kAbsolute};
 
     /** The translational stiffness in [10, 3000] N/m. */
     double translational_stiffness{2000};

include/franky/motion/joint_motion.hpp

@@ -21,7 +21,7 @@ class JointMotion : public JointWaypointMotion {
    */
   explicit JointMotion(
       const JointState &target,
-      ReferenceType reference_type = ReferenceType::Absolute,
+      ReferenceType reference_type = ReferenceType::kAbsolute,
       const RelativeDynamicsFactor &relative_dynamics_factor = 1.0,
       bool return_when_finished = true);
 };

include/franky/motion/position_waypoint_motion.hpp

@@ -18,7 +18,7 @@ namespace franky {
  */
 template<typename TargetType>
 struct PositionWaypoint : public Waypoint<TargetType> {
-  ReferenceType reference_type{ReferenceType::Absolute};
+  ReferenceType reference_type{ReferenceType::kAbsolute};
 };
 
 /**

include/franky/motion/reference_type.hpp

@@ -8,8 +8,8 @@ namespace franky {
  * This enum class defines the reference types for motions (absolute or relative).
  */
 enum class ReferenceType {
-  Absolute,
-  Relative
+  kAbsolute,
+  kRelative
 };
 
 }  // namespace franky

include/franky/motion/stop_motion.hpp

@@ -19,7 +19,7 @@ class StopMotion<franka::JointPositions> : public JointMotion {
  public:
   explicit StopMotion() : JointMotion(
       JointState(Vector7d::Zero()),
-      ReferenceType::Relative,
+      ReferenceType::kRelative,
       RelativeDynamicsFactor::MAX_DYNAMICS()
   ) {}
 };
@@ -45,7 +45,7 @@ class StopMotion<franka::CartesianPose> : public CartesianMotion {
  public:
   explicit StopMotion() : CartesianMotion(
       RobotPose(Affine::Identity()),
-      ReferenceType::Relative,
+      ReferenceType::kRelative,
       RelativeDynamicsFactor::MAX_DYNAMICS()
   ) {}
 };

python/bind_enums.cpp

@@ -8,8 +8,8 @@ using namespace franky;
 
 void bind_enums(py::module &m) {
   py::enum_<ReferenceType>(m, "ReferenceType")
-      .value("Relative", ReferenceType::Relative)
-      .value("Absolute", ReferenceType::Absolute);
+      .value("Relative", ReferenceType::kRelative)
+      .value("Absolute", ReferenceType::kAbsolute);
 
   py::enum_<franka::ControllerMode>(m, "ControllerMode")
       .value("JointImpedance", franka::ControllerMode::kJointImpedance)

python/bind_motion_cartesian_pos.cpp

@@ -23,7 +23,7 @@ void bind_motion_cartesian_pos(py::module &m) {
                }
            ),
            "target"_a,
-           py::arg_v("reference_type", ReferenceType::Absolute, "_franky.ReferenceType.Absolute"),
+           py::arg_v("reference_type", ReferenceType::kAbsolute, "_franky.ReferenceType.Absolute"),
            "relative_dynamics_factor"_a = 1.0,
            "minimum_time"_a = std::nullopt,
            "hold_target_duration"_a = franka::Duration(0))
@@ -63,7 +63,7 @@ void bind_motion_cartesian_pos(py::module &m) {
                  ee_frame.value_or(Affine::Identity()));
            }),
            "target"_a,
-           py::arg_v("reference_type", ReferenceType::Absolute, "_franky.ReferenceType.Absolute"),
+           py::arg_v("reference_type", ReferenceType::kAbsolute, "_franky.ReferenceType.Absolute"),
            "relative_dynamics_factor"_a = 1.0,
            "return_when_finished"_a = true,
            "ee_frame"_a = std::nullopt);

python/bind_motion_joint_pos.cpp

@@ -24,7 +24,7 @@ void bind_motion_joint_pos(py::module &m) {
                }
            ),
            "target"_a,
-           py::arg_v("reference_type", ReferenceType::Absolute, "_franky.ReferenceType.Absolute"),
+           py::arg_v("reference_type", ReferenceType::kAbsolute, "_franky.ReferenceType.Absolute"),
            "relative_dynamics_factor"_a = 1.0,
            "minimum_time"_a = std::nullopt,
            "hold_target_duration"_a = franka::Duration(0))
@@ -50,7 +50,7 @@ void bind_motion_joint_pos(py::module &m) {
   py::class_<JointMotion, JointWaypointMotion, std::shared_ptr<JointMotion>>(m, "JointMotion")
       .def(py::init<const JointState &, ReferenceType, double, bool>(),
            "target"_a,
-           py::arg_v("reference_type", ReferenceType::Absolute, "_franky.ReferenceType.Absolute"),
+           py::arg_v("reference_type", ReferenceType::kAbsolute, "_franky.ReferenceType.Absolute"),
            "relative_dynamics_factor"_a = 1.0,
            "return_when_finished"_a = true);