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1 parent 1537352 commit 6f46ff4

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8 files changed

+66
-48
lines changed

8 files changed

+66
-48
lines changed

‎include/sot/dynamic-pinocchio/angle-estimator.h‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -68,7 +68,8 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator : public dg::Entity {
6868
contactEmbeddedPositionSIN; // waistRleg
6969
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
7070
anglesSOUT; // [ flex1 flex2 yaw_drift ]
71-
dg::SignalTimeDependent<MatrixRotation, sigtime_t> flexibilitySOUT; // footRleg
71+
dg::SignalTimeDependent<MatrixRotation, sigtime_t>
72+
flexibilitySOUT; // footRleg
7273
dg::SignalTimeDependent<MatrixRotation, sigtime_t>
7374
driftSOUT; // Ryaw = worldRc est(wRc)^-1
7475
dg::SignalTimeDependent<MatrixRotation, sigtime_t>
@@ -90,7 +91,8 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator : public dg::Entity {
9091
const sigtime_t& time);
9192
MatrixRotation& computeFlexibilityFromAngles(MatrixRotation& res,
9293
const sigtime_t& time);
93-
MatrixRotation& computeDriftFromAngles(MatrixRotation& res, const sigtime_t& time);
94+
MatrixRotation& computeDriftFromAngles(MatrixRotation& res,
95+
const sigtime_t& time);
9496
MatrixRotation& computeSensorWorldRotation(MatrixRotation& res,
9597
const sigtime_t& time);
9698
MatrixRotation& computeWaistWorldRotation(MatrixRotation& res,

‎include/sot/dynamic-pinocchio/force-compensation.h‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -152,7 +152,8 @@ class SOTFORCECOMPENSATION_EXPORT ForceCompensationPlugin
152152
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> momentumSIN;
153153

154154
/* --- OUTPUTS --- */
155-
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> torsorCompensatedSOUT;
155+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
156+
torsorCompensatedSOUT;
156157
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> torsorDeadZoneSOUT;
157158

158159
typedef int sotDummyType;

‎include/sot/dynamic-pinocchio/integrator-force.h‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -70,7 +70,8 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce : public dg::Entity {
7070
/* Memory of the previous iteration. The sig is fed by the previous
7171
* computations. */
7272
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> velocityPrecSIN;
73-
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> velocityDerivativeSOUT;
73+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
74+
velocityDerivativeSOUT;
7475
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> velocitySOUT;
7576

7677
dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> massSIN;

‎include/sot/dynamic-pinocchio/mass-apparent.h‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -69,7 +69,8 @@ class SOTMASSAPPARENT_EXPORT MassApparent : public dg::Entity {
6969
public: /* --- FUNCTIONS --- */
7070
dynamicgraph::Matrix& computeMassInverse(dynamicgraph::Matrix& res,
7171
const sigtime_t& time);
72-
dynamicgraph::Matrix& computeMass(dynamicgraph::Matrix& res, const sigtime_t& time);
72+
dynamicgraph::Matrix& computeMass(dynamicgraph::Matrix& res,
73+
const sigtime_t& time);
7374
dynamicgraph::Matrix& computeInertiaInverse(dynamicgraph::Matrix& res,
7475
const sigtime_t& time);
7576
};

‎src/angle-estimator.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -265,8 +265,8 @@ MatrixRotation& AngleEstimator::computeDriftFromAngles(MatrixRotation& res,
265265
return res;
266266
}
267267

268-
MatrixRotation& AngleEstimator::computeSensorWorldRotation(MatrixRotation& res,
269-
const sigtime_t& time) {
268+
MatrixRotation& AngleEstimator::computeSensorWorldRotation(
269+
MatrixRotation& res, const sigtime_t& time) {
270270
sotDEBUGIN(15);
271271

272272
const MatrixRotation& worldRworldest = driftSOUT(time);
@@ -278,8 +278,8 @@ MatrixRotation& AngleEstimator::computeSensorWorldRotation(MatrixRotation& res,
278278
return res;
279279
}
280280

281-
MatrixRotation& AngleEstimator::computeWaistWorldRotation(MatrixRotation& res,
282-
const sigtime_t& time) {
281+
MatrixRotation& AngleEstimator::computeWaistWorldRotation(
282+
MatrixRotation& res, const sigtime_t& time) {
283283
sotDEBUGIN(15);
284284

285285
// chest = sensor

‎src/dynamic-python-module-py.cc‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -18,9 +18,8 @@ BOOST_PYTHON_MODULE(wrap) {
1818
bp::make_function(&dgs::DynamicPinocchio::getModel,
1919
reference_existing_object()),
2020
bp::make_function(&dgs::DynamicPinocchio::setModel))
21-
.add_property("data",
22-
bp::make_function(&dgs::DynamicPinocchio::getData,
23-
reference_existing_object()))
21+
.add_property("data", bp::make_function(&dgs::DynamicPinocchio::getData,
22+
reference_existing_object()))
2423
.def("setModel", &dgs::DynamicPinocchio::setModel)
2524
.def("createData", &dgs::DynamicPinocchio::createData);
2625
}

‎src/sot-dynamic-pinocchio.cpp‎

Lines changed: 48 additions & 34 deletions
Original file line numberDiff line numberDiff line change
@@ -285,7 +285,8 @@ DynamicPinocchio::~DynamicPinocchio(void) {
285285
// has. if (0!=m_data ) { delete m_data ; m_data =NULL; } if (0!=m_model) {
286286
// delete m_model; m_model=NULL; }
287287

288-
for (std::list<SignalBase<sigtime_t>*>::iterator iter = genericSignalRefs.begin();
288+
for (std::list<SignalBase<sigtime_t>*>::iterator iter =
289+
genericSignalRefs.begin();
289290
iter != genericSignalRefs.end(); ++iter) {
290291
SignalBase<sigtime_t>* sigPtr = *iter;
291292
delete sigPtr;
@@ -427,7 +428,8 @@ dg::Vector& DynamicPinocchio::getMaxEffortLimits(dg::Vector& res,
427428
}
428429

429430
/* ---------------- INTERNAL ------------------------------------------------ */
430-
dg::Vector& DynamicPinocchio::getPinocchioPos(dg::Vector& q, const sigtime_t& time) {
431+
dg::Vector& DynamicPinocchio::getPinocchioPos(dg::Vector& q,
432+
const sigtime_t& time) {
431433
sotDEBUGIN(15);
432434
dg::Vector qJoints = jointPositionSIN.access(time);
433435
if (!sphericalJoints.empty()) {
@@ -472,7 +474,8 @@ dg::Vector& DynamicPinocchio::getPinocchioPos(dg::Vector& q, const sigtime_t& ti
472474
return q;
473475
}
474476

475-
dg::Vector& DynamicPinocchio::getPinocchioVel(dg::Vector& v, const sigtime_t& time) {
477+
dg::Vector& DynamicPinocchio::getPinocchioVel(dg::Vector& v,
478+
const sigtime_t& time) {
476479
const Eigen::VectorXd vJoints = jointVelocitySIN.access(time);
477480
if (freeFlyerVelocitySIN) {
478481
const Eigen::VectorXd vFF = freeFlyerVelocitySIN.access(time);
@@ -486,7 +489,8 @@ dg::Vector& DynamicPinocchio::getPinocchioVel(dg::Vector& v, const sigtime_t& ti
486489
}
487490
}
488491

489-
dg::Vector& DynamicPinocchio::getPinocchioAcc(dg::Vector& a, const sigtime_t& time) {
492+
dg::Vector& DynamicPinocchio::getPinocchioAcc(dg::Vector& a,
493+
const sigtime_t& time) {
490494
const Eigen::VectorXd aJoints = jointAccelerationSIN.access(time);
491495
if (freeFlyerAccelerationSIN) {
492496
const Eigen::VectorXd aFF = freeFlyerAccelerationSIN.access(time);
@@ -595,8 +599,9 @@ DynamicPinocchio::createPositionSignal(const std::string& signame,
595599
return *sig;
596600
}
597601

598-
SignalTimeDependent<dg::Vector, sigtime_t>& DynamicPinocchio::createVelocitySignal(
599-
const std::string& signame, const std::string& jointName) {
602+
SignalTimeDependent<dg::Vector, sigtime_t>&
603+
DynamicPinocchio::createVelocitySignal(const std::string& signame,
604+
const std::string& jointName) {
600605
sotDEBUGIN(15);
601606
assert(m_model);
602607
long int jointId = m_model->getJointId(jointName);
@@ -639,7 +644,8 @@ void DynamicPinocchio::destroyJacobianSignal(const std::string& signame) {
639644

640645
bool deletable = false;
641646
dg::SignalTimeDependent<dg::Matrix, sigtime_t>* sig = &jacobiansSOUT(signame);
642-
for (std::list<SignalBase<sigtime_t>*>::iterator iter = genericSignalRefs.begin();
647+
for (std::list<SignalBase<sigtime_t>*>::iterator iter =
648+
genericSignalRefs.begin();
643649
iter != genericSignalRefs.end(); ++iter) {
644650
if ((*iter) == sig) {
645651
genericSignalRefs.erase(iter);
@@ -662,7 +668,8 @@ void DynamicPinocchio::destroyPositionSignal(const std::string& signame) {
662668
bool deletable = false;
663669
dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>* sig =
664670
&positionsSOUT(signame);
665-
for (std::list<SignalBase<sigtime_t>*>::iterator iter = genericSignalRefs.begin();
671+
for (std::list<SignalBase<sigtime_t>*>::iterator iter =
672+
genericSignalRefs.begin();
666673
iter != genericSignalRefs.end(); ++iter) {
667674
if ((*iter) == sig) {
668675
genericSignalRefs.erase(iter);
@@ -686,7 +693,8 @@ void DynamicPinocchio::destroyVelocitySignal(const std::string& signame) {
686693
sotDEBUGIN(15);
687694
bool deletable = false;
688695
SignalTimeDependent<dg::Vector, sigtime_t>* sig = &velocitiesSOUT(signame);
689-
for (std::list<SignalBase<sigtime_t>*>::iterator iter = genericSignalRefs.begin();
696+
for (std::list<SignalBase<sigtime_t>*>::iterator iter =
697+
genericSignalRefs.begin();
690698
iter != genericSignalRefs.end(); ++iter) {
691699
if ((*iter) == sig) {
692700
genericSignalRefs.erase(iter);
@@ -709,8 +717,10 @@ void DynamicPinocchio::destroyVelocitySignal(const std::string& signame) {
709717
void DynamicPinocchio::destroyAccelerationSignal(const std::string& signame) {
710718
sotDEBUGIN(15);
711719
bool deletable = false;
712-
dg::SignalTimeDependent<dg::Vector, sigtime_t>* sig = &accelerationsSOUT(signame);
713-
for (std::list<SignalBase<sigtime_t>*>::iterator iter = genericSignalRefs.begin();
720+
dg::SignalTimeDependent<dg::Vector, sigtime_t>* sig =
721+
&accelerationsSOUT(signame);
722+
for (std::list<SignalBase<sigtime_t>*>::iterator iter =
723+
genericSignalRefs.begin();
714724
iter != genericSignalRefs.end(); ++iter) {
715725
if ((*iter) == sig) {
716726
genericSignalRefs.erase(iter);
@@ -735,7 +745,8 @@ void DynamicPinocchio::destroyAccelerationSignal(const std::string& signame) {
735745
/* --------------------- COMPUTE
736746
* ------------------------------------------------- */
737747

738-
dg::Vector& DynamicPinocchio::computeZmp(dg::Vector& res, const sigtime_t& time) {
748+
dg::Vector& DynamicPinocchio::computeZmp(dg::Vector& res,
749+
const sigtime_t& time) {
739750
// TODO: To be verified
740751
sotDEBUGIN(25);
741752
assert(m_data);
@@ -765,7 +776,8 @@ int& DynamicPinocchio::computeJacobians(int& dummy, const sigtime_t& time) {
765776
sotDEBUGOUT(25);
766777
return dummy;
767778
}
768-
int& DynamicPinocchio::computeForwardKinematics(int& dummy, const sigtime_t& time) {
779+
int& DynamicPinocchio::computeForwardKinematics(int& dummy,
780+
const sigtime_t& time) {
769781
sotDEBUGIN(25);
770782
assert(m_model);
771783
assert(m_data);
@@ -809,11 +821,9 @@ dg::Matrix& DynamicPinocchio::computeGenericJacobian(const bool isFrame,
809821
return res;
810822
}
811823

812-
dg::Matrix& DynamicPinocchio::computeGenericEndeffJacobian(const bool isFrame,
813-
const bool isLocal,
814-
const int id,
815-
dg::Matrix& res,
816-
const sigtime_t& time) {
824+
dg::Matrix& DynamicPinocchio::computeGenericEndeffJacobian(
825+
const bool isFrame, const bool isLocal, const int id, dg::Matrix& res,
826+
const sigtime_t& time) {
817827
sotDEBUGIN(25);
818828
assert(m_model);
819829
assert(m_data);
@@ -861,7 +871,8 @@ dg::Matrix& DynamicPinocchio::computeGenericEndeffJacobian(const bool isFrame,
861871
}
862872

863873
MatrixHomogeneous& DynamicPinocchio::computeGenericPosition(
864-
const bool isFrame, const int id, MatrixHomogeneous& res, const sigtime_t& time) {
874+
const bool isFrame, const int id, MatrixHomogeneous& res,
875+
const sigtime_t& time) {
865876
sotDEBUGIN(25);
866877
forwardKinematicsSINTERN(time);
867878
if (isFrame) {
@@ -890,9 +901,8 @@ dg::Vector& DynamicPinocchio::computeGenericVelocity(const int jointId,
890901
return res;
891902
}
892903

893-
dg::Vector& DynamicPinocchio::computeGenericAcceleration(const int jointId,
894-
dg::Vector& res,
895-
const sigtime_t& time) {
904+
dg::Vector& DynamicPinocchio::computeGenericAcceleration(
905+
const int jointId, dg::Vector& res, const sigtime_t& time) {
896906
sotDEBUGIN(25);
897907
forwardKinematicsSINTERN(time);
898908
res.resize(6);
@@ -919,15 +929,17 @@ int& DynamicPinocchio::computeNewtonEuler(int& dummy, const sigtime_t& time) {
919929
return dummy;
920930
}
921931

922-
dg::Matrix& DynamicPinocchio::computeJcom(dg::Matrix& Jcom, const sigtime_t& time) {
932+
dg::Matrix& DynamicPinocchio::computeJcom(dg::Matrix& Jcom,
933+
const sigtime_t& time) {
923934
sotDEBUGIN(25);
924935
forwardKinematicsSINTERN(time);
925936
Jcom = pinocchio::jacobianCenterOfMass(*m_model, *m_data, false);
926937
sotDEBUGOUT(25);
927938
return Jcom;
928939
}
929940

930-
dg::Vector& DynamicPinocchio::computeCom(dg::Vector& com, const sigtime_t& time) {
941+
dg::Vector& DynamicPinocchio::computeCom(dg::Vector& com,
942+
const sigtime_t& time) {
931943
sotDEBUGIN(25);
932944
if (JcomSOUT.needUpdate(time)) {
933945
forwardKinematicsSINTERN(time);
@@ -938,7 +950,8 @@ dg::Vector& DynamicPinocchio::computeCom(dg::Vector& com, const sigtime_t& time)
938950
return com;
939951
}
940952

941-
dg::Matrix& DynamicPinocchio::computeInertia(dg::Matrix& res, const sigtime_t& time) {
953+
dg::Matrix& DynamicPinocchio::computeInertia(dg::Matrix& res,
954+
const sigtime_t& time) {
942955
sotDEBUGIN(25);
943956
const Eigen::VectorXd& q = pinocchioPosSINTERN.access(time);
944957
res = pinocchio::crba(*m_model, *m_data, q);
@@ -1023,7 +1036,7 @@ dg::SignalTimeDependent<dg::Matrix, sigtime_t>& DynamicPinocchio::jacobiansSOUT(
10231036
dg::SignalTimeDependent<dg::Matrix, sigtime_t>& res =
10241037
dynamic_cast<dg::SignalTimeDependent<dg::Matrix, sigtime_t>&>(sigabs);
10251038
return res;
1026-
} catch (const std::bad_cast &e) {
1039+
} catch (const std::bad_cast& e) {
10271040
SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
10281041
" (while getting signal <%s> of type matrix.",
10291042
name.c_str());
@@ -1034,37 +1047,38 @@ DynamicPinocchio::positionsSOUT(const std::string& name) {
10341047
SignalBase<sigtime_t>& sigabs = Entity::getSignal(name);
10351048
try {
10361049
dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>& res =
1037-
dynamic_cast<dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>&>(sigabs);
1050+
dynamic_cast<dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>&>(
1051+
sigabs);
10381052
return res;
1039-
} catch (const std::bad_cast &e) {
1053+
} catch (const std::bad_cast& e) {
10401054
SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
10411055
" (while getting signal <%s> of type matrixHomo.",
10421056
name.c_str());
10431057
}
10441058
}
10451059

1046-
dg::SignalTimeDependent<dg::Vector, sigtime_t>& DynamicPinocchio::velocitiesSOUT(
1047-
const std::string& name) {
1060+
dg::SignalTimeDependent<dg::Vector, sigtime_t>&
1061+
DynamicPinocchio::velocitiesSOUT(const std::string& name) {
10481062
SignalBase<sigtime_t>& sigabs = Entity::getSignal(name);
10491063
try {
10501064
dg::SignalTimeDependent<dg::Vector, sigtime_t>& res =
10511065
dynamic_cast<dg::SignalTimeDependent<dg::Vector, sigtime_t>&>(sigabs);
10521066
return res;
1053-
} catch (const std::bad_cast &e) {
1067+
} catch (const std::bad_cast& e) {
10541068
SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
10551069
" (while getting signal <%s> of type Vector.",
10561070
name.c_str());
10571071
}
10581072
}
10591073

1060-
dg::SignalTimeDependent<dg::Vector, sigtime_t>& DynamicPinocchio::accelerationsSOUT(
1061-
const std::string& name) {
1074+
dg::SignalTimeDependent<dg::Vector, sigtime_t>&
1075+
DynamicPinocchio::accelerationsSOUT(const std::string& name) {
10621076
SignalBase<sigtime_t>& sigabs = Entity::getSignal(name);
10631077
try {
10641078
dg::SignalTimeDependent<dg::Vector, sigtime_t>& res =
10651079
dynamic_cast<dg::SignalTimeDependent<dg::Vector, sigtime_t>&>(sigabs);
10661080
return res;
1067-
} catch (const std::bad_cast &e) {
1081+
} catch (const std::bad_cast& e) {
10681082
SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
10691083
" (while getting signal <%s> of type Vector.",
10701084
name.c_str());

‎src/zmp-from-forces.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,10 +21,10 @@ namespace dynamic {
2121
using dynamicgraph::Entity;
2222
using dynamicgraph::SignalPtr;
2323
using dynamicgraph::SignalTimeDependent;
24+
using dynamicgraph::sigtime_t;
2425
using dynamicgraph::Vector;
2526
using dynamicgraph::sot::MatrixHomogeneous;
26-
using dynamicgraph::sigtime_t;
27-
27+
2828
class ZmpFromForces : public Entity {
2929
DYNAMIC_GRAPH_ENTITY_DECL();
3030

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