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/limit_switch/src/external_limit_switch.cpp

@@ -7,12 +7,12 @@
 
 #include "external_limit_switch.h"
 
-
 ExternalLimitSwitch::ExternalLimitSwitch(sdf::ElementPtr sdf) {
   sensor = boost::dynamic_pointer_cast<sensors::ContactSensor>(
-               sensors::get_sensor(sdf->Get<std::string>("sensor")));
+      sensors::get_sensor(sdf->Get<std::string>("sensor")));
 
-  gzmsg << "\texternal limit switch: " << " sensor=" << sensor->GetName() << std::endl;
+  gzmsg << "\texternal limit switch: "
+        << " sensor=" << sensor->GetName() << std::endl;
 }
 
 ExternalLimitSwitch::~ExternalLimitSwitch() {}

simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.h

@@ -10,23 +10,23 @@
 #include "switch.h"
 
 #ifdef _WIN32
-	#include <Winsock2.h>
+#include <Winsock2.h>
 #endif
 
-#include <gazebo/sensors/sensors.hh>
 #include <boost/pointer_cast.hpp>
 #include <gazebo/gazebo.hh>
+#include <gazebo/sensors/sensors.hh>
 
 using namespace gazebo;
 
 class ExternalLimitSwitch : public Switch {
-public:
+ public:
   ExternalLimitSwitch(sdf::ElementPtr sdf);
   ~ExternalLimitSwitch();
 
   /// \brief Returns true when the switch is triggered.
   virtual bool Get();
 
-private:
+ private:
   sensors::ContactSensorPtr sensor;
 };

simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.cpp

@@ -7,7 +7,8 @@
 
 #include "internal_limit_switch.h"
 
-InternalLimitSwitch::InternalLimitSwitch(physics::ModelPtr model, sdf::ElementPtr sdf) {
+InternalLimitSwitch::InternalLimitSwitch(physics::ModelPtr model,
+                                         sdf::ElementPtr sdf) {
   joint = model->GetJoint(sdf->Get<std::string>("joint"));
   min = sdf->Get<double>("min");
   max = sdf->Get<double>("max");
@@ -18,8 +19,9 @@ InternalLimitSwitch::InternalLimitSwitch(physics::ModelPtr model, sdf::ElementPt
     radians = true;
   }
 
-  gzmsg << "\tinternal limit switch: " << " type=" << joint->GetName()
-        << " range=[" << min << "," << max << "] radians=" << radians << std::endl;
+  gzmsg << "\tinternal limit switch: "
+        << " type=" << joint->GetName() << " range=[" << min << "," << max
+        << "] radians=" << radians << std::endl;
 }
 
 InternalLimitSwitch::~InternalLimitSwitch() {}

simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.h

@@ -10,22 +10,22 @@
 #include "switch.h"
 
 #ifdef _WIN32
-	#include <Winsock2.h>
+#include <Winsock2.h>
 #endif
-#include <gazebo/physics/physics.hh>
 #include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
 
 using namespace gazebo;
 
 class InternalLimitSwitch : public Switch {
-public:
+ public:
   InternalLimitSwitch(physics::ModelPtr model, sdf::ElementPtr sdf);
   ~InternalLimitSwitch();
 
   /// \brief Returns true when the switch is triggered.
   virtual bool Get();
 
-private:
+ private:
   physics::JointPtr joint;
   double min, max;
   bool radians;

simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.cpp

@@ -20,11 +20,12 @@ void LimitSwitch::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();
   }
   std::string type = sdf->Get<std::string>("type");
 
-  gzmsg << "Initializing limit switch: " << topic << " type=" << type << std::endl;
+  gzmsg << "Initializing limit switch: " << topic << " type=" << type
+        << std::endl;
   if (type == "internal") {
     ls = new InternalLimitSwitch(model, sdf);
   } else if (type == "external") {
@@ -34,7 +35,8 @@ void LimitSwitch::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
   }
 
   // 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);
@@ -42,10 +44,11 @@ void LimitSwitch::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
 
   // Connect to the world update event.
   // This will trigger the Update function every Gazebo iteration
-  updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&LimitSwitch::Update, this, _1));
+  updateConn = event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&LimitSwitch::Update, this, _1));
 }
 
-void LimitSwitch::Update(const common::UpdateInfo &info) {
+void LimitSwitch::Update(const common::UpdateInfo& info) {
   msgs::Bool msg;
   msg.set_data(ls->Get());
   pub->Publish(msg);

simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h

@@ -11,12 +11,12 @@
 
 #include "switch.h"
 
-#include "internal_limit_switch.h"
 #include "external_limit_switch.h"
+#include "internal_limit_switch.h"
 
+#include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
-#include <gazebo/gazebo.hh>
 
 using namespace gazebo;
 
@@ -66,8 +66,8 @@ using namespace gazebo;
  * External
  * - `sensor`: Name of the contact sensor that this limit switch uses.
  */
-class LimitSwitch: public ModelPlugin {
-public:
+class LimitSwitch : public ModelPlugin {
+ public:
   LimitSwitch();
   ~LimitSwitch();
 
@@ -75,18 +75,18 @@ public:
   void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
 
   /// \brief Sends out the limit switch reading each timestep.
-  void Update(const common::UpdateInfo &info);
+  void Update(const common::UpdateInfo& info);
 
-private:
+ private:
   /// \brief Publish the limit switch value on this topic.
   std::string topic;
 
   /// \brief LimitSwitch object, currently internal or external.
   Switch* ls;
 
-
-  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::PublisherPtr pub;     ///< \brief Publisher handle.
+  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::PublisherPtr pub;  ///< \brief Publisher handle.
 };

simulation/frc_gazebo_plugins/limit_switch/src/switch.h

@@ -8,7 +8,7 @@
 #pragma once
 
 class Switch {
-public:
+ public:
   virtual ~Switch() {}
 
   /// \brief Returns true when the switch is triggered.