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[Robot] fix typo reported by spellchecker CI

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- Accelaration -> Acceleration

- plus some style fixes done by MSVC
This commit is contained in:
Uwe
2022-02-21 14:19:53 +01:00
committed by wwmayer
parent 4adabe3de8
commit 181fc65d01
11 changed files with 328 additions and 329 deletions
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46
src/Mod/Robot/App/Trajectory.cpp
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@@ -148,7 +148,7 @@ void Trajectory::deleteLast(unsigned int n)
void Trajectory::generateTrajectory(void)
{
if (vpcWaypoints.size()==0)
if (vpcWaypoints.size() == 0)
return;
// delete the old and create a new one
@@ -164,60 +164,60 @@ void Trajectory::generateTrajectory(void)
try {
// handle the first waypoint special
bool first=true;
bool first = true;
for (std::vector<Waypoint*>::const_iterator it = vpcWaypoints.begin();it!=vpcWaypoints.end();++it) {
for (std::vector<Waypoint*>::const_iterator it = vpcWaypoints.begin(); it != vpcWaypoints.end(); ++it) {
if (first) {
Last = toFrame((*it)->EndPos);
first = false;
}
else {
// destinct the type of movement
switch((*it)->Type){
switch ((*it)->Type) {
case Waypoint::LINE:
case Waypoint::PTP:{
case Waypoint::PTP: {
KDL::Frame Next = toFrame((*it)->EndPos);
// continues the movement until no continuous waypoint or the end
bool Cont = (*it)->Cont && !(it==--vpcWaypoints.end());
bool Cont = (*it)->Cont && !(it == --vpcWaypoints.end());
// start of a continue block
if (Cont && !pcRoundComp) {
pcRoundComp.reset(new KDL::Path_RoundedComposite(3, 3,
new KDL::RotationalInterpolation_SingleAxis()));
new KDL::RotationalInterpolation_SingleAxis()));
// the velocity of the first waypoint is used
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration));
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity, (*it)->Acceleration));
pcRoundComp->Add(Last);
pcRoundComp->Add(Next);
// continue a continues block
// continue a continues block
}
else if (Cont && pcRoundComp) {
pcRoundComp->Add(Next);
// end a continuous block
}
else if (Cont==false && pcRoundComp) {
else if (Cont == false && pcRoundComp) {
// add the last one
pcRoundComp->Add(Next);
pcRoundComp->Finish();
pcVelPrf->SetProfile(0,pcRoundComp->PathLength());
pcTrak.reset(new KDL::Trajectory_Segment(pcRoundComp.release(),pcVelPrf.release()));
pcVelPrf->SetProfile(0, pcRoundComp->PathLength());
pcTrak.reset(new KDL::Trajectory_Segment(pcRoundComp.release(), pcVelPrf.release()));
// normal block
}
else if (Cont==false && !pcRoundComp){
else if (Cont == false && !pcRoundComp) {
KDL::Path* pcPath;
pcPath = new KDL::Path_Line(Last,
Next,
new KDL::RotationalInterpolation_SingleAxis(),
1.0,
true
);
Next,
new KDL::RotationalInterpolation_SingleAxis(),
1.0,
true
);
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration));
pcVelPrf->SetProfile(0,pcPath->PathLength());
pcTrak.reset(new KDL::Trajectory_Segment(pcPath,pcVelPrf.release()));
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity, (*it)->Acceleration));
pcVelPrf->SetProfile(0, pcPath->PathLength());
pcTrak.reset(new KDL::Trajectory_Segment(pcPath, pcVelPrf.release()));
}
Last = Next;
break;}
break; }
case Waypoint::WAIT:
break;
default:
@@ -230,7 +230,7 @@ void Trajectory::generateTrajectory(void)
}
}
}
catch (KDL::Error &e) {
catch (KDL::Error& e) {
throw Base::RuntimeError(e.Description());
}
}