From 74859992542da729b285058553c8dcea30e8095e Mon Sep 17 00:00:00 2001 From: mbennice Date: Thu, 27 Sep 2018 10:00:39 -0700 Subject: [PATCH] Clang Format Change --- .../Importers/ImportURDFDemo/URDF2Bullet.h | 2 +- .../Importers/ImportURDFDemo/UrdfParser.cpp | 119 +++++++++--------- .../Importers/ImportURDFDemo/UrdfParser.h | 11 +- .../PhysicsServerCommandProcessor.cpp | 2 +- examples/SharedMemory/SharedMemoryPublic.h | 2 +- 5 files changed, 69 insertions(+), 67 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.h b/examples/Importers/ImportURDFDemo/URDF2Bullet.h index a04c6bb15..f503a103e 100644 --- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h +++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h @@ -31,7 +31,7 @@ enum ConvertURDFFlags CUF_ENABLE_SLEEPING = 2048, CUF_INITIALIZE_SAT_FEATURES = 4096, CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192, - CUF_PARSE_SENSORS = 16384, + CUF_PARSE_SENSORS = 16384, }; struct UrdfVisualShapeCache diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index e190a8820..c35a1f873 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -1438,27 +1438,27 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement* config, ErrorLogger* l bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, XMLElement* config, ErrorLogger* logger) { - // Sensors are mapped to Links with a Fixed Joints connecting to the parents. - // They has no extent or mass so they will work with the existing - // model without affecting the system. - logger->reportError("Adding Sensor "); - const char* sensorName = config->Attribute("name"); + // Sensors are mapped to Links with a Fixed Joints connecting to the parents. + // They has no extent or mass so they will work with the existing + // model without affecting the system. + logger->reportError("Adding Sensor "); + const char* sensorName = config->Attribute("name"); if (!sensorName) { logger->reportError("Sensor with no name"); return false; } - logger->reportError(sensorName); - link.m_name = sensorName; - link.m_linkTransformInWorld.setIdentity(); - link.m_inertia.m_mass = 0.f; - link.m_inertia.m_linkLocalFrame.setIdentity(); - link.m_inertia.m_ixx = 0.f; - link.m_inertia.m_iyy = 0.f; - link.m_inertia.m_izz = 0.f; + logger->reportError(sensorName); + link.m_name = sensorName; + link.m_linkTransformInWorld.setIdentity(); + link.m_inertia.m_mass = 0.f; + link.m_inertia.m_linkLocalFrame.setIdentity(); + link.m_inertia.m_ixx = 0.f; + link.m_inertia.m_iyy = 0.f; + link.m_inertia.m_izz = 0.f; - // Get Parent Link + // Get Parent Link XMLElement* parent_xml = config->FirstChildElement("parent"); if (parent_xml) { @@ -1482,12 +1482,12 @@ bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, } } - joint.m_name = std::string(sensorName).append("_Joint"); - joint.m_childLinkName = sensorName; - joint.m_type = URDFFixedJoint; - joint.m_localJointAxis.setValue(0, 0, 0); + joint.m_name = std::string(sensorName).append("_Joint"); + joint.m_childLinkName = sensorName; + joint.m_type = URDFFixedJoint; + joint.m_localJointAxis.setValue(0, 0, 0); - // Get transform from Parent Link to Joint Frame + // Get transform from Parent Link to Joint Frame XMLElement* origin_xml = config->FirstChildElement("origin"); if (origin_xml) { @@ -1499,7 +1499,7 @@ bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, } } - return true; + return true; } bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger) @@ -1713,46 +1713,47 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF } } - if (parseSensors) { - // Get all Sensor Elements. - for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor")) - { - UrdfLink* sensor = new UrdfLink; - UrdfJoint* sensor_joint = new UrdfJoint; + if (parseSensors) + { + // Get all Sensor Elements. + for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor")) + { + UrdfLink* sensor = new UrdfLink; + UrdfJoint* sensor_joint = new UrdfJoint; - if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger)) - { - if (m_urdf2Model.m_links.find(sensor->m_name.c_str())) - { - logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique"); - logger->reportError(sensor->m_name.c_str()); - delete sensor; - delete sensor_joint; - return false; - } - else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str())) - { - logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique"); - logger->reportError(sensor_joint->m_name.c_str()); - delete sensor; - delete sensor_joint; - return false; - } - else - { - m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor); - m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint); - } - } - else - { - logger->reportError("failed to parse sensor"); - delete sensor; - delete sensor_joint; - return false; - } - } - } + if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger)) + { + if (m_urdf2Model.m_links.find(sensor->m_name.c_str())) + { + logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique"); + logger->reportError(sensor->m_name.c_str()); + delete sensor; + delete sensor_joint; + return false; + } + else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str())) + { + logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique"); + logger->reportError(sensor_joint->m_name.c_str()); + delete sensor; + delete sensor_joint; + return false; + } + else + { + m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor); + m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint); + } + } + else + { + logger->reportError("failed to parse sensor"); + delete sensor; + delete sensor_joint; + return false; + } + } + } if (m_urdf2Model.m_links.size() == 0) { diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 04045cfb5..eff72d593 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -267,7 +267,7 @@ protected: bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseJoint(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement* config, ErrorLogger* logger); - bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); + bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); public: UrdfParser(); @@ -286,11 +286,12 @@ public: m_urdfScaling = scaling; } - bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors); + bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors); - bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase) { - return loadUrdf(urdfText, logger, forceFixedBase, false); - } + bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase) + { + return loadUrdf(urdfText, logger, forceFixedBase, false); + } bool loadSDF(const char* sdfText, ErrorLogger* logger); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index e2386fcde..c9001f555 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -5676,7 +5676,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct } } } //fi - //break; + //break; } } } //if (body && body->m_rigidBody) diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 9ffd13439..bdda027fa 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -820,7 +820,7 @@ enum eURDF_Flags URDF_ENABLE_SLEEPING = 2048, URDF_INITIALIZE_SAT_FEATURES = 4096, URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192, - URDF_PARSE_SENSORS = 16384, + URDF_PARSE_SENSORS = 16384, }; enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes