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

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On Windows machines, clang-format.exe must be in the PATH environment variable.
This commit is contained in:
Tyler Veness
2016-05-20 17:30:37 -07:00
committed by Peter Johnson
parent 68690643d2
commit e14e45da76
383 changed files with 13787 additions and 13198 deletions
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101
simulation/frc_gazebo_plugins/servo/src/servo.cpp
View File

@@ -6,9 +6,9 @@
/*----------------------------------------------------------------------------*/
#ifdef _WIN32
// Ensure that Winsock2.h is included before Windows.h, which can get
// pulled in by anybody (e.g., Boost).
#include <Winsock2.h>
// Ensure that Winsock2.h is included before Windows.h, which can get
// pulled in by anybody (e.g., Boost).
#include <Winsock2.h>
#endif
#include "servo.h"
@@ -22,56 +22,57 @@ Servo::Servo() {}
Servo::~Servo() {}
void Servo::Load(physics::ModelPtr model, sdf::ElementPtr sdf){
this->model = model;
signal = 0;
void Servo::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
signal = 0;
//parse SDF Properries
joint = model->GetJoint(sdf->Get<std::string>("joint"));
if (sdf->HasElement("topic")) {
topic = sdf->Get<std::string>("topic");
}
else {
topic = "~/"+sdf->GetAttribute("name")->GetAsString();
}
if (sdf->HasElement("torque")) {
torque = sdf->Get<double>("torque");
}
else {
torque = 5;
}
gzmsg << "initializing awesome servo: " << topic
<< " joint=" << joint->GetName()
<< " torque=" << torque << std::endl;
//Connect to Gazebo transport for messaging
std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName();
boost::replace_all(scoped_name, "::","/");
node = transport::NodePtr(new transport::Node());
node->Init(scoped_name);
sub = node->Subscribe(topic, &Servo::Callback, this);
//connect to the world update event
//this will call update every iteration
updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Servo::Update, this, _1));
}
void Servo::Update(const common::UpdateInfo &info){
//torque is in kg*cm
//joint->SetAngle(0,signal*180);
if (joint->GetAngle(0) < signal){
joint->SetForce(0,torque);
// parse SDF Properries
joint = model->GetJoint(sdf->Get<std::string>("joint"));
if (sdf->HasElement("topic")) {
topic = sdf->Get<std::string>("topic");
} else {
topic = "~/" + sdf->GetAttribute("name")->GetAsString();
}
else if (joint->GetAngle(0) > signal){
joint->SetForce(0,torque);
if (sdf->HasElement("torque")) {
torque = sdf->Get<double>("torque");
} else {
torque = 5;
}
joint->SetForce(0,0);
gzmsg << "initializing awesome servo: " << topic
<< " joint=" << joint->GetName() << " torque=" << torque << std::endl;
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = transport::NodePtr(new transport::Node());
node->Init(scoped_name);
sub = node->Subscribe(topic, &Servo::Callback, this);
// connect to the world update event
// this will call update every iteration
updateConn = event::Events::ConnectWorldUpdateBegin(
boost::bind(&Servo::Update, this, _1));
}
void Servo::Callback(const msgs::ConstFloat64Ptr &msg){
signal = msg->data();
if (signal < -1) { signal = -1; }
else if (signal > 1) { signal = 1; }
void Servo::Update(const common::UpdateInfo& info) {
// torque is in kg*cm
// joint->SetAngle(0,signal*180);
if (joint->GetAngle(0) < signal) {
joint->SetForce(0, torque);
} else if (joint->GetAngle(0) > signal) {
joint->SetForce(0, torque);
}
joint->SetForce(0, 0);
}
void Servo::Callback(const msgs::ConstFloat64Ptr& msg) {
signal = msg->data();
if (signal < -1) {
signal = -1;
} else if (signal > 1) {
signal = 1;
}
}

48
simulation/frc_gazebo_plugins/servo/src/servo.h
View File

@@ -31,36 +31,36 @@ using namespace gazebo;
* - `link`: Name of the link the servo is attached to.
* - `topic`: Optional. Message type should be gazebo.msgs.Float64.
*/
class Servo: public ModelPlugin {
public:
Servo();
~Servo();
class Servo : public ModelPlugin {
public:
Servo();
~Servo();
/// \brief load the servo and configure it according to the sdf
void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
/// \brief load the servo and configure it according to the sdf
void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
/// \brief Update the torque on the joint from the dc motor each timestep.
void Update(const common::UpdateInfo &info);
/// \brief Update the torque on the joint from the dc motor each timestep.
void Update(const common::UpdateInfo& info);
private:
/// \brief Topic to read control signal from.
std::string topic;
private:
/// \brief Topic to read control signal from.
std::string topic;
/// \brief the pwm signal limited to the range [-1,1]
double signal;
/// \brief the pwm signal limited to the range [-1,1]
double signal;
/// \brief the torque of the motor in kg/cm
double torque;
/// \brief the torque of the motor in kg/cm
double torque;
/// \brief the joint that this servo moves
physics::JointPtr joint;
/// \brief the joint that this servo moves
physics::JointPtr joint;
/// \brief Callback for receiving msgs and storing the signal
void Callback(const msgs::ConstFloat64Ptr &msg);
physics::ModelPtr model; ///< \brief The model that this is attached to
event::ConnectionPtr updateConn; ///< \brief The Pointer to the world update function
transport::NodePtr node; ///< \brief The node we're advertising torque on
transport::SubscriberPtr sub; ///< \brief the Subscriber for the pwm signal
/// \brief Callback for receiving msgs and storing the signal
void Callback(const msgs::ConstFloat64Ptr& msg);
physics::ModelPtr model; ///< \brief The model that this is attached to
event::ConnectionPtr
updateConn; ///< \brief The Pointer to the world update function
transport::NodePtr node; ///< \brief The node we're advertising torque on
transport::SubscriberPtr sub; ///< \brief the Subscriber for the pwm signal
};