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Code-style consistency improvement:

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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
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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46
examples/TwoJoint/TwoJointMain.cpp
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@@ -16,7 +16,7 @@ const int CONTROL_RATE = 500;
// Bullet globals
b3PhysicsClientHandle kPhysClient = 0;
const b3Scalar FIXED_TIMESTEP = 1.0/((b3Scalar)CONTROL_RATE);
const b3Scalar FIXED_TIMESTEP = 1.0 / ((b3Scalar)CONTROL_RATE);
// temp vars used a lot
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
@@ -25,9 +25,10 @@ b3JointInfo jointInfo;
b3JointSensorState state;
// test
int twojoint;
std::map< std::string, int > jointNameToId;
std::map<std::string, int> jointNameToId;
int main(int argc, char* argv[]) {
int main(int argc, char* argv[])
{
kPhysClient = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
if (!kPhysClient)
return -1;
@@ -54,7 +55,6 @@ int main(int argc, char* argv[]) {
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
// load test
command = b3LoadUrdfCommandInit(kPhysClient, "TwoJointRobot_wo_fixedJoints.urdf");
int flags = URDF_USE_INERTIA_FROM_FILE;
@@ -66,26 +66,31 @@ int main(int argc, char* argv[]) {
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_URDF_LOADING_COMPLETED);
if (statusType == CMD_URDF_LOADING_COMPLETED) {
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
twojoint = b3GetStatusBodyIndex(statusHandle);
}
//disable default linear/angular damping
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(kPhysClient);
double linearDamping = 0;
double angularDamping = 0;
b3ChangeDynamicsInfoSetLinearDamping(command, twojoint, linearDamping);
b3ChangeDynamicsInfoSetAngularDamping(command, twojoint, angularDamping);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
//disable default linear/angular damping
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(kPhysClient);
double linearDamping = 0;
double angularDamping = 0;
b3ChangeDynamicsInfoSetLinearDamping(command, twojoint, linearDamping);
b3ChangeDynamicsInfoSetAngularDamping(command, twojoint, angularDamping);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
int numJoints = b3GetNumJoints(kPhysClient, twojoint);
printf("twojoint numjoints = %d\n", numJoints);
// Loop through all joints
for (int i=0; i<numJoints; ++i) {
for (int i = 0; i < numJoints; ++i)
{
b3GetJointInfo(kPhysClient, twojoint, i, &jointInfo);
if (jointInfo.m_jointName[0]) {
if (jointInfo.m_jointName[0])
{
jointNameToId[std::string(jointInfo.m_jointName)] = i;
} else {
}
else
{
continue;
}
// Reset before torque control - see #1459
@@ -96,15 +101,16 @@ int main(int argc, char* argv[]) {
}
// loop
unsigned long dtus1 = (unsigned long) 1000000.0*FIXED_TIMESTEP;
unsigned long dtus1 = (unsigned long)1000000.0 * FIXED_TIMESTEP;
double simTimeS = 0;
double q[2], v[2];
while (b3CanSubmitCommand(kPhysClient)) {
simTimeS += 0.000001*dtus1;
while (b3CanSubmitCommand(kPhysClient))
{
simTimeS += 0.000001 * dtus1;
// apply some torque
b3GetJointInfo(kPhysClient, twojoint, jointNameToId["joint_2"], &jointInfo);
command = b3JointControlCommandInit2(kPhysClient, twojoint, CONTROL_MODE_TORQUE);
b3JointControlSetDesiredForceTorque(command, jointInfo.m_uIndex, 0.5 * sin(10*simTimeS));
b3JointControlSetDesiredForceTorque(command, jointInfo.m_uIndex, 0.5 * sin(10 * simTimeS));
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
// get joint values
@@ -121,7 +127,7 @@ int main(int argc, char* argv[]) {
// debugging output
printf("%.3f\t%.3f\t%.3f\t%.3f\t%.3f\n", simTimeS, q[0], q[1], v[0], v[1]);
b3Clock::usleep(1000.*1000.*FIXED_TIMESTEP);
b3Clock::usleep(1000. * 1000. * FIXED_TIMESTEP);
}
b3DisconnectSharedMemory(kPhysClient);
return 0;