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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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114
src/Mod/Robot/App/TrajectoryDressUpObject.cpp
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@@ -31,23 +31,46 @@ using namespace App;
PROPERTY_SOURCE(Robot::TrajectoryDressUpObject, Robot::TrajectoryObject)
const char* TrajectoryDressUpObject::ContTypeEnums[]= {"DontChange","Continues","Discontinues",nullptr};
const char* TrajectoryDressUpObject::AddTypeEnums[] = {"DontChange","UseOrientation","AddPosition","AddOrintation","AddPositionAndOrientation",nullptr};
const char* TrajectoryDressUpObject::ContTypeEnums[] = {"DontChange",
"Continues",
"Discontinues",
nullptr};
const char* TrajectoryDressUpObject::AddTypeEnums[] = {"DontChange",
"UseOrientation",
"AddPosition",
"AddOrintation",
"AddPositionAndOrientation",
nullptr};
TrajectoryDressUpObject::TrajectoryDressUpObject()
{
ADD_PROPERTY_TYPE( Source, (nullptr) , "TrajectoryDressUp",Prop_None,"Trajectory to dress up");
ADD_PROPERTY_TYPE( Speed, (1000) , "TrajectoryDressUp",Prop_None,"Speed to use");
ADD_PROPERTY_TYPE( UseSpeed , (0) , "TrajectoryDressUp",Prop_None,"Switch the speed usage on");
ADD_PROPERTY_TYPE( Acceleration, (1000) , "TrajectoryDressUp",Prop_None,"Acceleration to use");
ADD_PROPERTY_TYPE( UseAcceleration, (0) , "TrajectoryDressUp",Prop_None,"Switch the acceleration usage on");
ADD_PROPERTY_TYPE( ContType, ((long)0) , "TrajectoryDressUp",Prop_None,"Define the dress up of continuity");
ADD_PROPERTY_TYPE(Source, (nullptr), "TrajectoryDressUp", Prop_None, "Trajectory to dress up");
ADD_PROPERTY_TYPE(Speed, (1000), "TrajectoryDressUp", Prop_None, "Speed to use");
ADD_PROPERTY_TYPE(UseSpeed, (0), "TrajectoryDressUp", Prop_None, "Switch the speed usage on");
ADD_PROPERTY_TYPE(Acceleration, (1000), "TrajectoryDressUp", Prop_None, "Acceleration to use");
ADD_PROPERTY_TYPE(UseAcceleration,
(0),
"TrajectoryDressUp",
Prop_None,
"Switch the acceleration usage on");
ADD_PROPERTY_TYPE(ContType,
((long)0),
"TrajectoryDressUp",
Prop_None,
"Define the dress up of continuity");
ContType.setEnums(ContTypeEnums);
ADD_PROPERTY_TYPE( PosAdd, (Base::Placement()) , "TrajectoryDressUp",Prop_None,"Position & Orientation to use");
ADD_PROPERTY_TYPE( AddType, ((long)0) , "TrajectoryDressUp",Prop_None,"How to change the Position & Orientation");
ADD_PROPERTY_TYPE(PosAdd,
(Base::Placement()),
"TrajectoryDressUp",
Prop_None,
"Position & Orientation to use");
ADD_PROPERTY_TYPE(AddType,
((long)0),
"TrajectoryDressUp",
Prop_None,
"How to change the Position & Orientation");
AddType.setEnums(AddTypeEnums);
}
App::DocumentObjectExecReturn* TrajectoryDressUpObject::execute()
@@ -55,44 +78,57 @@ App::DocumentObjectExecReturn* TrajectoryDressUpObject::execute()
Robot::Trajectory result;
App::DocumentObject* link = Source.getValue();
if (!link)
if (!link) {
return new App::DocumentObjectExecReturn("No object linked");
if (!link->getTypeId().isDerivedFrom(Robot::TrajectoryObject::getClassTypeId()))
}
if (!link->getTypeId().isDerivedFrom(Robot::TrajectoryObject::getClassTypeId())) {
return new App::DocumentObjectExecReturn("Linked object is not a Trajectory object");
}
const std::vector<Waypoint*>& wps = static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints();
const std::vector<Waypoint*>& wps =
static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints();
for (auto wp : wps) {
Waypoint wpt = *wp;
if (UseSpeed.getValue())
if (UseSpeed.getValue()) {
wpt.Velocity = Speed.getValue();
if (UseAcceleration.getValue())
}
if (UseAcceleration.getValue()) {
wpt.Acceleration = Acceleration.getValue();
}
switch (ContType.getValue()) {
case 0: break;
case 1: wpt.Cont = true; break;
case 2: wpt.Cont = false; break;
default: assert(0); // must not happen!
case 0:
break;
case 1:
wpt.Cont = true;
break;
case 2:
wpt.Cont = false;
break;
default:
assert(0);// must not happen!
}
switch (AddType.getValue()) {
// do nothing
case 0: break;
// use orientation
case 1:
wpt.EndPos.setRotation(PosAdd.getValue().getRotation());
break;
// add position
case 2:
wpt.EndPos.setPosition(wpt.EndPos.getPosition() + PosAdd.getValue().getPosition());
break;
// add orientation
case 3:
wpt.EndPos.setRotation(wpt.EndPos.getRotation() * PosAdd.getValue().getRotation());
break;
// add orientation & position
case 4:
wpt.EndPos = wpt.EndPos * PosAdd.getValue();
break;
default: assert(0); // must not happen!
// do nothing
case 0:
break;
// use orientation
case 1:
wpt.EndPos.setRotation(PosAdd.getValue().getRotation());
break;
// add position
case 2:
wpt.EndPos.setPosition(wpt.EndPos.getPosition() + PosAdd.getValue().getPosition());
break;
// add orientation
case 3:
wpt.EndPos.setRotation(wpt.EndPos.getRotation() * PosAdd.getValue().getRotation());
break;
// add orientation & position
case 4:
wpt.EndPos = wpt.EndPos * PosAdd.getValue();
break;
default:
assert(0);// must not happen!
}
result.addWaypoint(wpt);