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Robot: Apply clang format

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This commit is contained in:
wmayer
2023-09-11 10:24:21 +02:00
committed by wwmayer
parent e0ff39ccdf
commit 3acb817ee7
33 changed files with 1215 additions and 967 deletions
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34
src/Mod/Robot/App/Simulation.cpp
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@@ -33,14 +33,15 @@ using namespace KDL;
// Simulation class
//===========================================================================
Simulation::Simulation(const Robot::Trajectory &Trac,Robot::Robot6Axis &Rob)
:Trac(Trac),Rob(Rob)
Simulation::Simulation(const Robot::Trajectory& Trac, Robot::Robot6Axis& Rob)
: Trac(Trac)
, Rob(Rob)
{
// simulate a trajectory with only one waypoint make no sense!
assert(Trac.getSize() > 1);
startAxis[0] = Rob.getAxis(0);
startAxis[0] = Rob.getAxis(0);
startAxis[1] = Rob.getAxis(1);
startAxis[2] = Rob.getAxis(2);
startAxis[3] = Rob.getAxis(3);
@@ -48,26 +49,23 @@ Simulation::Simulation(const Robot::Trajectory &Trac,Robot::Robot6Axis &Rob)
startAxis[5] = Rob.getAxis(5);
setToTime(0);
}
Simulation::~Simulation() = default;
void Simulation::step(double tick)
{
Pos += tick;
Pos += tick;
}
void Simulation::setToWaypoint(unsigned int)
{
}
{}
void Simulation::setToTime(float t)
{
Pos = t;
Base::Placement NeededPos = Trac.getPosition(Pos);
NeededPos = NeededPos *Tool.inverse();
NeededPos = NeededPos * Tool.inverse();
Rob.setTo(NeededPos);
Axis[0] = Rob.getAxis(0);
Axis[1] = Rob.getAxis(1);
@@ -75,20 +73,19 @@ void Simulation::setToTime(float t)
Axis[3] = Rob.getAxis(3);
Axis[4] = Rob.getAxis(4);
Axis[5] = Rob.getAxis(5);
}
void Simulation::reset()
{
Rob.setAxis(0,startAxis[0]);
Rob.setAxis(1,startAxis[1]);
Rob.setAxis(2,startAxis[2]);
Rob.setAxis(3,startAxis[3]);
Rob.setAxis(4,startAxis[4]);
Rob.setAxis(5,startAxis[5]);
Rob.setAxis(0, startAxis[0]);
Rob.setAxis(1, startAxis[1]);
Rob.setAxis(2, startAxis[2]);
Rob.setAxis(3, startAxis[3]);
Rob.setAxis(4, startAxis[4]);
Rob.setAxis(5, startAxis[5]);
Base::Placement NeededPos = Trac.getPosition(0.0);
NeededPos = NeededPos *Tool.inverse();
NeededPos = NeededPos * Tool.inverse();
Rob.setTo(NeededPos);
Axis[0] = Rob.getAxis(0);
@@ -97,5 +94,4 @@ void Simulation::reset()
Axis[3] = Rob.getAxis(3);
Axis[4] = Rob.getAxis(4);
Axis[5] = Rob.getAxis(5);
}