Add format script which invokes clang-format on the C++ source code (#41)

On Windows machines, clang-format.exe must be in the PATH environment variable.

simulation/frc_gazebo_plugins/encoder/src/encoder.cpp

@@ -21,7 +21,7 @@ void Encoder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
   if (sdf->HasElement("topic")) {
     topic = sdf->Get<std::string>("topic");
   } else {
-    topic = "~/"+sdf->GetAttribute("name")->GetAsString();
+    topic = "~/" + sdf->GetAttribute("name")->GetAsString();
   }
 
   if (sdf->HasElement("units")) {
@@ -37,20 +37,22 @@ void Encoder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
         << " radians=" << radians << std::endl;
 
   // Connect to Gazebo transport for messaging
-  std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName();
+  std::string scoped_name =
+      model->GetWorld()->GetName() + "::" + model->GetScopedName();
   boost::replace_all(scoped_name, "::", "/");
   node = transport::NodePtr(new transport::Node());
   node->Init(scoped_name);
-  command_sub = node->Subscribe(topic+"/control", &Encoder::Callback, this);
-  pos_pub = node->Advertise<msgs::Float64>(topic+"/position");
-  vel_pub = node->Advertise<msgs::Float64>(topic+"/velocity");
+  command_sub = node->Subscribe(topic + "/control", &Encoder::Callback, this);
+  pos_pub = node->Advertise<msgs::Float64>(topic + "/position");
+  vel_pub = node->Advertise<msgs::Float64>(topic + "/velocity");
 
   // Connect to the world update event.
   // This will trigger the Update function every Gazebo iteration
-  updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Encoder::Update, this, _1));
+  updateConn = event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&Encoder::Update, this, _1));
 }
 
-void Encoder::Update(const common::UpdateInfo &info) {
+void Encoder::Update(const common::UpdateInfo& info) {
   msgs::Float64 pos_msg, vel_msg;
   if (stopped) {
     pos_msg.set_data(stop_value);
@@ -65,18 +67,19 @@ void Encoder::Update(const common::UpdateInfo &info) {
   }
 }
 
-void Encoder::Callback(const msgs::ConstStringPtr &msg) {
+void Encoder::Callback(const msgs::ConstStringPtr& msg) {
   std::string command = msg->data();
   if (command == "reset") {
     zero = GetAngle();
   } else if (command == "start") {
     stopped = false;
     zero = (GetAngle() - stop_value);
-  } else if  (command == "stop") {
+  } else if (command == "stop") {
     stopped = true;
     stop_value = GetAngle();
   } else {
-    gzerr << "WARNING: Encoder got unknown command '" << command << "'." << std::endl;
+    gzerr << "WARNING: Encoder got unknown command '" << command << "'."
+          << std::endl;
   }
 }
 
@@ -95,4 +98,3 @@ double Encoder::GetVelocity() {
     return joint->GetVelocity(0) * (180.0 / M_PI);
   }
 }
-

simulation/frc_gazebo_plugins/encoder/src/encoder.h

@@ -9,10 +9,9 @@
 
 #include "simulation/gz_msgs/msgs.h"
 
+#include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
-#include <gazebo/gazebo.hh>
-
 
 using namespace gazebo;
 
@@ -38,12 +37,14 @@ using namespace gazebo;
  *     </plugin>
  *
  * - `joint`: Name of the joint this encoder is attached to.
- * - `topic`: Optional. Used as the root for subtopics. `topic`/position (gazebo.msgs.Float64),
- *            `topic`/velocity (gazebo.msgs.Float64), `topic`/control (gazebo.msgs.String)
+ * - `topic`: Optional. Used as the root for subtopics. `topic`/position
+ * (gazebo.msgs.Float64),
+ *            `topic`/velocity (gazebo.msgs.Float64), `topic`/control
+ * (gazebo.msgs.String)
  * - `units`: Optional. Defaults to radians.
  */
-class Encoder: public ModelPlugin {
-public:
+class Encoder : public ModelPlugin {
+ public:
   Encoder();
   ~Encoder();
 
@@ -51,9 +52,9 @@ public:
   void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
 
   /// \brief Sends out the encoder reading each timestep.
-  void Update(const common::UpdateInfo &info);
+  void Update(const common::UpdateInfo& info);
 
-private:
+ private:
   /// \brief Root topic for subtopics on this topic.
   std::string topic;
 
@@ -73,7 +74,7 @@ private:
   physics::JointPtr joint;
 
   /// \brief Callback for handling control data
-  void Callback(const msgs::ConstStringPtr &msg);
+  void Callback(const msgs::ConstStringPtr& msg);
 
   /// \brief Gets the current angle, taking into account whether to
   ///        return radians or degrees.
@@ -83,9 +84,10 @@ private:
   ///        return radians/second or degrees/second.
   double GetVelocity();
 
-  physics::ModelPtr model;                  ///< \brief The model that this is attached to.
-  event::ConnectionPtr updateConn;          ///< \brief Pointer to the world update function.
-  transport::NodePtr node;                  ///< \brief The node we're advertising on.
-  transport::SubscriberPtr command_sub;     ///< \brief Subscriber handle.
-  transport::PublisherPtr pos_pub, vel_pub; ///< \brief Publisher handles.
+  physics::ModelPtr model;  ///< \brief The model that this is attached to.
+  event::ConnectionPtr
+      updateConn;           ///< \brief Pointer to the world update function.
+  transport::NodePtr node;  ///< \brief The node we're advertising on.
+  transport::SubscriberPtr command_sub;      ///< \brief Subscriber handle.
+  transport::PublisherPtr pos_pub, vel_pub;  ///< \brief Publisher handles.
 };