Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
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@@ -20,31 +20,34 @@ subject to the following restrictions:
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*
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*/
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#ifndef _CLASS_NODE
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#define _CLASS_NODE
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#include "LinearR3.h"
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enum Purpose {JOINT, EFFECTOR};
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enum Purpose
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{
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JOINT,
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EFFECTOR
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};
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class VectorR3;
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class Node {
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class Node
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{
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friend class Tree;
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public:
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Node(const VectorR3&, const VectorR3&, double, Purpose, double minTheta=-PI, double maxTheta=PI, double restAngle=0.);
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Node(const VectorR3&, const VectorR3&, double, Purpose, double minTheta = -PI, double maxTheta = PI, double restAngle = 0.);
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void PrintNode();
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void InitNode();
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const VectorR3& GetAttach() const { return attach; }
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double GetTheta() const { return theta; }
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double AddToTheta( double& delta ) {
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double AddToTheta(double& delta)
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{
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//double orgTheta = theta;
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theta += delta;
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#if 0
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@@ -55,24 +58,27 @@ public:
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double actualDelta = theta - orgTheta;
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delta = actualDelta;
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#endif
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return theta; }
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double UpdateTheta( double& delta ) {
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theta = delta;
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return theta; }
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return theta;
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}
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double UpdateTheta(double& delta)
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{
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theta = delta;
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return theta;
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}
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const VectorR3& GetS() const { return s; }
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const VectorR3& GetW() const { return w; }
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double GetMinTheta() const { return minTheta; }
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double GetMaxTheta() const { return maxTheta; }
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double GetRestAngle() const { return restAngle; } ;
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double GetMaxTheta() const { return maxTheta; }
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double GetRestAngle() const { return restAngle; };
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void SetTheta(double newTheta) { theta = newTheta; }
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void ComputeS(void);
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void ComputeW(void);
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bool IsEffector() const { return purpose==EFFECTOR; }
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bool IsJoint() const { return purpose==JOINT; }
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bool IsEffector() const { return purpose == EFFECTOR; }
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bool IsJoint() const { return purpose == JOINT; }
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int GetEffectorNum() const { return seqNumEffector; }
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int GetJointNum() const { return seqNumJoint; }
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@@ -80,26 +86,24 @@ public:
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void Freeze() { freezed = true; }
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void UnFreeze() { freezed = false; }
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//private:
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bool freezed; // Is this node frozen?
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int seqNumJoint; // sequence number if this node is a joint
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int seqNumEffector; // sequence number if this node is an effector
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double size; // size
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Purpose purpose; // joint / effector / both
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VectorR3 attach; // attachment point
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VectorR3 r; // relative position vector
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VectorR3 v; // rotation axis
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double theta; // joint angle (radian)
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double minTheta; // lower limit of joint angle
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double maxTheta; // upper limit of joint angle
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double restAngle; // rest position angle
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VectorR3 s; // GLobal Position
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VectorR3 w; // Global rotation axis
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Node* left; // left child
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Node* right; // right sibling
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Node* realparent; // pointer to real parent
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//private:
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bool freezed; // Is this node frozen?
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int seqNumJoint; // sequence number if this node is a joint
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int seqNumEffector; // sequence number if this node is an effector
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double size; // size
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Purpose purpose; // joint / effector / both
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VectorR3 attach; // attachment point
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VectorR3 r; // relative position vector
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VectorR3 v; // rotation axis
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double theta; // joint angle (radian)
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double minTheta; // lower limit of joint angle
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double maxTheta; // upper limit of joint angle
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double restAngle; // rest position angle
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VectorR3 s; // GLobal Position
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VectorR3 w; // Global rotation axis
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Node* left; // left child
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Node* right; // right sibling
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Node* realparent; // pointer to real parent
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};
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#endif
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