style: cpp format

Author: juelg

extensions/rcs_fr3/src/hw/Franka.cpp

@@ -20,8 +20,8 @@
 namespace rcs {
 namespace hw {
 Franka::Franka(const std::string &ip,
-         std::optional<std::shared_ptr<common::Kinematics>> ik,
-         const std::optional<FrankaConfig> &cfg)
+               std::optional<std::shared_ptr<common::Kinematics>> ik,
+               const std::optional<FrankaConfig> &cfg)
     : robot(ip), m_ik(ik) {
   // set collision behavior and impedance
   this->set_default_robot_behavior();
@@ -123,7 +123,7 @@ common::VectorXd Franka::get_joint_position() {
 }
 
 void Franka::set_guiding_mode(bool x, bool y, bool z, bool roll, bool pitch,
-                           bool yaw, bool elbow) {
+                              bool yaw, bool elbow) {
   std::array<bool, 6> activated = {x, y, z, roll, pitch, yaw};
   this->robot.setGuidingMode(activated, elbow);
 }
@@ -586,7 +586,9 @@ void Franka::move_home() {
   this->robot.control(motion_generator);
 }
 
-void Franka::automatic_error_recovery() { this->robot.automaticErrorRecovery(); }
+void Franka::automatic_error_recovery() {
+  this->robot.automaticErrorRecovery();
+}
 
 void Franka::reset() {
   this->stop_control_thread();
@@ -707,9 +709,9 @@ common::Pose Franka::get_base_pose_in_world_coordinates() {
 }
 
 void Franka::set_cartesian_position_internal(const common::Pose &pose,
-                                          double max_time,
-                                          std::optional<double> elbow,
-                                          std::optional<double> max_force) {
+                                             double max_time,
+                                             std::optional<double> elbow,
+                                             std::optional<double> max_force) {
   // TODO: use speed factor instead of max_time
   common::Pose initial_pose = this->get_cartesian_position();
 

extensions/rcs_fr3/src/hw/Franka.h

@@ -49,7 +49,6 @@ struct PandaConfig : FrankaConfig {
   common::RobotType robot_type = common::RobotType::Panda;
 };
 
-
 struct FrankaState : common::RobotState {};
 
 class Franka : public common::Robot {
@@ -70,8 +69,8 @@ class Franka : public common::Robot {
 
  public:
   Franka(const std::string &ip,
-      std::optional<std::shared_ptr<common::Kinematics>> ik = std::nullopt,
-      const std::optional<FrankaConfig> &cfg = std::nullopt);
+         std::optional<std::shared_ptr<common::Kinematics>> ik = std::nullopt,
+         const std::optional<FrankaConfig> &cfg = std::nullopt);
   ~Franka() override;
 
   bool set_config(const FrankaConfig &cfg);

extensions/rcs_fr3/src/hw/FrankaMotionGenerator.cpp

@@ -24,7 +24,7 @@ void setDefaultBehavior(franka::Robot& robot) {
 }
 
 FrankaMotionGenerator::FrankaMotionGenerator(double speed_factor,
-                                       const common::Vector7d q_goal)
+                                             const common::Vector7d q_goal)
     : q_goal_(q_goal) {
   dq_max_ *= speed_factor;
   ddq_max_start_ *= speed_factor;

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -43,7 +43,8 @@ PYBIND11_MODULE(_core, m) {
 
   py::object robot_state =
       (py::object)py::module_::import("rcs").attr("common").attr("RobotState");
-  py::class_<rcs::hw::FrankaState>(hw, "FrankaState", robot_state).def(py::init<>());
+  py::class_<rcs::hw::FrankaState>(hw, "FrankaState", robot_state)
+      .def(py::init<>());
   py::class_<rcs::hw::FrankaLoad>(hw, "FrankaLoad")
       .def(py::init<>())
       .def_readwrite("load_mass", &rcs::hw::FrankaLoad::load_mass)
@@ -99,7 +100,8 @@ PYBIND11_MODULE(_core, m) {
 
   py::object robot =
       (py::object)py::module_::import("rcs").attr("common").attr("Robot");
-  py::class_<rcs::hw::Franka, std::shared_ptr<rcs::hw::Franka>>(hw, "Franka", robot)
+  py::class_<rcs::hw::Franka, std::shared_ptr<rcs::hw::Franka>>(hw, "Franka",
+                                                                robot)
       .def(py::init<const std::string &,
                     std::optional<std::shared_ptr<rcs::common::Kinematics>>>(),
            py::arg("ip"), py::arg("ik") = std::nullopt)
@@ -117,9 +119,11 @@ PYBIND11_MODULE(_core, m) {
            &rcs::hw::Franka::osc_set_cartesian_position,
            py::arg("desired_pos_EE_in_base_frame"))
       .def("controller_set_joint_position",
-           &rcs::hw::Franka::controller_set_joint_position, py::arg("desired_q"))
+           &rcs::hw::Franka::controller_set_joint_position,
+           py::arg("desired_q"))
       .def("stop_control_thread", &rcs::hw::Franka::stop_control_thread)
-      .def("automatic_error_recovery", &rcs::hw::Franka::automatic_error_recovery)
+      .def("automatic_error_recovery",
+           &rcs::hw::Franka::automatic_error_recovery)
       .def("double_tap_robot_to_continue",
            &rcs::hw::Franka::double_tap_robot_to_continue)
       .def("set_cartesian_position_internal",

src/sim/test.cpp

@@ -147,7 +147,8 @@ int test_sim() {
             "robot should not be moving at the end of a step");
       }
       if (not state->is_arrived) {
-        throw std::runtime_error("robot should be arrived at the end of a step");
+        throw std::runtime_error(
+            "robot should be arrived at the end of a step");
       }
       /* According to fact sheet, pose repeatability within iso cube is 0.1
        * millimeters, i.e. 0.0001 meters.