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fzi-forschungszentrum-informatik · Oct 18, 2024 · 9a2c5e1 · 9a2c5e1
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Showing 20 changed files with 22 additions and 57 deletions.
diff --git a/...ance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.h b/...ance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.h
@@ -85,7 +85,7 @@ class CartesianComplianceController : public cartesian_motion_controller::Cartes
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
-    
+
   controller_interface::return_type update(const rclcpp::Time & time,
                                            const rclcpp::Duration & period) override;
 

diff --git a/cartesian_compliance_controller/src/cartesian_compliance_controller.cpp b/cartesian_compliance_controller/src/cartesian_compliance_controller.cpp
@@ -76,7 +76,6 @@ CartesianComplianceController::on_init()
   return TYPE::SUCCESS;
 }
 
-
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 CartesianComplianceController::on_configure(const rclcpp_lifecycle::State & previous_state)
 {

diff --git a/cartesian_controller_base/include/cartesian_controller_base/DampedLeastSquaresSolver.h b/cartesian_controller_base/include/cartesian_controller_base/DampedLeastSquaresSolver.h
@@ -94,9 +94,9 @@ class DampedLeastSquaresSolver : public IKSolver
      * \return True, if everything went well
      */
 
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-    const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-    const KDL::JntArray & lower_pos_limits) override;
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
+            const KDL::JntArray & lower_pos_limits) override;
 
 private:
   std::shared_ptr<KDL::ChainJntToJacSolver> m_jnt_jacobian_solver;

diff --git a/cartesian_controller_base/include/cartesian_controller_base/ForwardDynamicsSolver.h b/cartesian_controller_base/include/cartesian_controller_base/ForwardDynamicsSolver.h
@@ -104,9 +104,9 @@ class ForwardDynamicsSolver : public IKSolver
      * @return True, if everything went well
      */
 
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-    const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-    const KDL::JntArray & lower_pos_limits) override;
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
+            const KDL::JntArray & lower_pos_limits) override;
 
 private:
   //! Build a generic robot model for control

diff --git a/cartesian_controller_base/include/cartesian_controller_base/IKSolver.h b/cartesian_controller_base/include/cartesian_controller_base/IKSolver.h
@@ -148,9 +148,8 @@ class IKSolver
      * @return True, if everything went well
      */
 
-  virtual bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-      const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-      const KDL::JntArray & lower_pos_limits);
+  virtual bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+                    const KDL::JntArray & upper_pos_limits, const KDL::JntArray & lower_pos_limits);
 
   /**
      * @brief Update the robot kinematics of the solver

diff --git a/cartesian_controller_base/include/cartesian_controller_base/JacobianTransposeSolver.h b/cartesian_controller_base/include/cartesian_controller_base/JacobianTransposeSolver.h
@@ -88,9 +88,9 @@ class JacobianTransposeSolver : public IKSolver
      * \return True, if everything went well
      */
 
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/,
-    const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-    const KDL::JntArray & lower_pos_limits) override;
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
+            const KDL::JntArray & lower_pos_limits) override;
 
 private:
   std::shared_ptr<KDL::ChainJntToJacSolver> m_jnt_jacobian_solver;

diff --git a/cartesian_controller_base/include/cartesian_controller_base/PDController.h b/cartesian_controller_base/include/cartesian_controller_base/PDController.h
@@ -62,13 +62,11 @@ class PDController
   PDController();
   ~PDController();
 
-
   void init(const std::string & params, std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle);
 
   double operator()(const double & error, const rclcpp::Duration & period);
 
 private:
-
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> m_handle;
   std::string m_params;  ///< namespace for parameter access
 

diff --git a/...n_controller_base/include/cartesian_controller_base/SelectivelyDampedLeastSquaresSolver.h b/...n_controller_base/include/cartesian_controller_base/SelectivelyDampedLeastSquaresSolver.h
@@ -92,9 +92,9 @@ class SelectivelyDampedLeastSquaresSolver : public IKSolver
      * \return True, if everything went well
      */
 
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-      const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-      const KDL::JntArray & lower_pos_limits) override;
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
+            const KDL::JntArray & lower_pos_limits) override;
 
 private:
   /**

diff --git a/cartesian_controller_base/src/IKSolver.cpp b/cartesian_controller_base/src/IKSolver.cpp
@@ -102,10 +102,9 @@ void IKSolver::synchronizeJointPositions(
   }
 }
 
-
 bool IKSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/,
-    const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-    const KDL::JntArray & lower_pos_limits)
+                    const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
+                    const KDL::JntArray & lower_pos_limits)
 {
   // Initialize
   m_chain = chain;

diff --git a/cartesian_controller_base/src/JacobianTransposeSolver.cpp b/cartesian_controller_base/src/JacobianTransposeSolver.cpp
@@ -103,8 +103,8 @@ trajectory_msgs::msg::JointTrajectoryPoint JacobianTransposeSolver::getJointCont
 }
 
 bool JacobianTransposeSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-  const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-  const KDL::JntArray & lower_pos_limits)
+                                   const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
+                                   const KDL::JntArray & lower_pos_limits)
 {
   IKSolver::init(nh, chain, upper_pos_limits, lower_pos_limits);
 

diff --git a/cartesian_controller_base/src/SelectivelyDampedLeastSquaresSolver.cpp b/cartesian_controller_base/src/SelectivelyDampedLeastSquaresSolver.cpp
@@ -136,11 +136,10 @@ trajectory_msgs::msg::JointTrajectoryPoint SelectivelyDampedLeastSquaresSolver::
   return control_cmd;
 }
 
-
 bool SelectivelyDampedLeastSquaresSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-  const KDL::Chain & chain,
-  const KDL::JntArray & upper_pos_limits,
-  const KDL::JntArray & lower_pos_limits)
+                                               const KDL::Chain & chain,
+                                               const KDL::JntArray & upper_pos_limits,
+                                               const KDL::JntArray & lower_pos_limits)
 {
   IKSolver::init(nh, chain, upper_pos_limits, lower_pos_limits);
 

diff --git a/cartesian_controller_base/src/SpatialPDController.cpp b/cartesian_controller_base/src/SpatialPDController.cpp
@@ -56,7 +56,6 @@ ctrl::Vector6D SpatialPDController::operator()(const ctrl::Vector6D & error,
   return m_cmd;
 }
 
-
 bool SpatialPDController::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle)
 {
   // Create pd controllers for each Cartesian dimension

diff --git a/cartesian_controller_base/src/cartesian_controller_base.cpp b/cartesian_controller_base/src/cartesian_controller_base.cpp
@@ -86,7 +86,6 @@ CartesianControllerBase::state_interface_configuration() const
   return conf;
 }
 
-
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 CartesianControllerBase::on_init()
 {

diff --git a/cartesian_controller_handles/src/motion_control_handle.cpp b/cartesian_controller_handles/src/motion_control_handle.cpp
@@ -123,20 +123,15 @@ controller_interface::InterfaceConfiguration MotionControlHandle::state_interfac
   return conf;
 }
 
-
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 MotionControlHandle::on_init()
 {
-
-
   auto_declare<std::string>("robot_description", "");
   auto_declare<std::string>("robot_base_link", "");
   auto_declare<std::string>("end_effector_link", "");
   auto_declare<std::vector<std::string> >("joints", std::vector<std::string>());
 
-
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-
 }
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

diff --git a/cartesian_controller_simulation/include/cartesian_controller_simulation/system_interface.h b/cartesian_controller_simulation/include/cartesian_controller_simulation/system_interface.h
@@ -52,8 +52,6 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
-
-
 namespace cartesian_controller_simulation
 {
 // Two custom hardware interfaces for torque-actuated robots:
@@ -87,12 +85,9 @@ class Simulator : public hardware_interface::SystemInterface
     const std::vector<std::string> & start_interfaces,
     const std::vector<std::string> & stop_interfaces) override;
 
-
   return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
   return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-
-
 private:
   // Command buffers for the controllers
   std::vector<double> m_position_commands;

diff --git a/cartesian_controller_simulation/src/system_interface.cpp b/cartesian_controller_simulation/src/system_interface.cpp
@@ -97,7 +97,6 @@ Simulator::CallbackReturn Simulator::on_init(const hardware_interface::HardwareI
                    "Joint '%s' needs two possible command interfaces.", joint.name.c_str());
 
       return Simulator::CallbackReturn::ERROR;
-
     }
 
     if (!(joint.command_interfaces[0].name == hardware_interface::HW_IF_POSITION ||
@@ -109,7 +108,6 @@ Simulator::CallbackReturn Simulator::on_init(const hardware_interface::HardwareI
                    hardware_interface::HW_IF_VELOCITY);
 
       return Simulator::CallbackReturn::ERROR;
-
     }
 
     if (joint.state_interfaces.size() != 3)
@@ -118,7 +116,6 @@ Simulator::CallbackReturn Simulator::on_init(const hardware_interface::HardwareI
                    joint.name.c_str());
 
       return Simulator::CallbackReturn::ERROR;
-
     }
 
     if (!(joint.state_interfaces[0].name == hardware_interface::HW_IF_POSITION ||
@@ -131,12 +128,10 @@ Simulator::CallbackReturn Simulator::on_init(const hardware_interface::HardwareI
                    hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_EFFORT);
 
       return Simulator::CallbackReturn::ERROR;
-
     }
   }
 
   return Simulator::CallbackReturn::SUCCESS;
-
 }
 
 std::vector<hardware_interface::StateInterface> Simulator::export_state_interfaces()
@@ -182,9 +177,6 @@ Simulator::return_type Simulator::prepare_command_mode_switch(
   return return_type::OK;
 }
 
-
-
-
 Simulator::return_type Simulator::read([[maybe_unused]] const rclcpp::Time & time,
                                        [[maybe_unused]] const rclcpp::Duration & period)
 
@@ -208,7 +200,6 @@ Simulator::return_type Simulator::read([[maybe_unused]] const rclcpp::Time & tim
   return return_type::OK;
 }
 
-
 Simulator::return_type Simulator::write([[maybe_unused]] const rclcpp::Time & time,
                                         [[maybe_unused]] const rclcpp::Duration & period)
 

diff --git a/cartesian_force_controller/include/cartesian_force_controller/cartesian_force_controller.h b/cartesian_force_controller/include/cartesian_force_controller/cartesian_force_controller.h
@@ -76,7 +76,6 @@ class CartesianForceController : public virtual cartesian_controller_base::Carte
 public:
   CartesianForceController();
 
-
   virtual LifecycleNodeInterface::CallbackReturn on_init() override;
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
@@ -91,7 +90,6 @@ class CartesianForceController : public virtual cartesian_controller_base::Carte
   controller_interface::return_type update(const rclcpp::Time & time,
                                            const rclcpp::Duration & period) override;
 
-
   using Base = cartesian_controller_base::CartesianControllerBase;
 
 protected:

diff --git a/cartesian_force_controller/src/cartesian_force_controller.cpp b/cartesian_force_controller/src/cartesian_force_controller.cpp
@@ -51,7 +51,6 @@ CartesianForceController::CartesianForceController()
 {
 }
 
-
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 CartesianForceController::on_init()
 {
@@ -67,7 +66,6 @@ CartesianForceController::on_init()
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
-
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 CartesianForceController::on_configure(const rclcpp_lifecycle::State & previous_state)
 {
@@ -120,7 +118,6 @@ CartesianForceController::on_deactivate(const rclcpp_lifecycle::State & previous
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
-
 controller_interface::return_type CartesianForceController::update(const rclcpp::Time & time,
                                                                    const rclcpp::Duration & period)
 {

diff --git a/...esian_motion_controller/include/cartesian_motion_controller/cartesian_motion_controller.h b/...esian_motion_controller/include/cartesian_motion_controller/cartesian_motion_controller.h
@@ -91,7 +91,6 @@ class CartesianMotionController : public virtual cartesian_controller_base::Cart
   controller_interface::return_type update(const rclcpp::Time & time,
                                            const rclcpp::Duration & period) override;
 
-
   using Base = cartesian_controller_base::CartesianControllerBase;
 
 protected:

diff --git a/cartesian_motion_controller/src/cartesian_motion_controller.cpp b/cartesian_motion_controller/src/cartesian_motion_controller.cpp
@@ -63,7 +63,6 @@ CartesianMotionController::on_init()
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
-
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 CartesianMotionController::on_configure(const rclcpp_lifecycle::State & previous_state)
 {
@@ -100,7 +99,6 @@ CartesianMotionController::on_deactivate(const rclcpp_lifecycle::State & previou
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
-
 controller_interface::return_type CartesianMotionController::update(const rclcpp::Time & time,
                                                                     const rclcpp::Duration & period)
 {
-Original file line number
+Diff line change
@@ Expand Up / @@ -76,7 +76,6 @@ CartesianComplianceController::on_init() @@
       return TYPE::SUCCESS;
     }
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     CartesianComplianceController::on_configure(const rclcpp_lifecycle::State & previous_state)
     {
@@ Expand Down @@