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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 e1aa8197d3
commit 4c470ecd11
33 changed files with 1215 additions and 967 deletions
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127
src/Mod/Robot/App/Waypoint.cpp
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@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include "kdl_cp/chain.hpp"
#include "kdl_cp/chain.hpp"
#endif
#include <Base/Reader.h>
@@ -32,12 +32,12 @@
#ifndef M_PI
#define M_PI 3.14159265358979323846
#define M_PI 3.14159265358979323846 /* pi */
#define M_PI 3.14159265358979323846
#define M_PI 3.14159265358979323846 /* pi */
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923 /* pi/2 */
#define M_PI_2 1.57079632679489661923 /* pi/2 */
#endif
using namespace Robot;
@@ -45,10 +45,10 @@ using namespace Base;
using namespace KDL;
TYPESYSTEM_SOURCE(Robot::Waypoint , Base::Persistence)
TYPESYSTEM_SOURCE(Robot::Waypoint, Base::Persistence)
Waypoint::Waypoint(const char* name,
const Base::Placement &endPos,
const Base::Placement& endPos,
WaypointType type,
float velocity,
float acceleration,
@@ -56,64 +56,67 @@ Waypoint::Waypoint(const char* name,
unsigned int tool,
unsigned int base)
: Name(name)
, Type(type)
, Velocity(velocity)
, Acceleration(acceleration)
, Cont(cont)
, Tool(tool)
, Base(base)
, EndPos(endPos)
{
}
: Name(name)
, Type(type)
, Velocity(velocity)
, Acceleration(acceleration)
, Cont(cont)
, Tool(tool)
, Base(base)
, EndPos(endPos)
{}
Waypoint::Waypoint()
: Type(UNDEF)
, Velocity(1000.0)
, Acceleration(100.0)
, Cont(false)
, Tool(0)
, Base(0)
{
}
: Type(UNDEF)
, Velocity(1000.0)
, Acceleration(100.0)
, Cont(false)
, Tool(0)
, Base(0)
{}
Waypoint::~Waypoint() = default;
unsigned int Waypoint::getMemSize () const
unsigned int Waypoint::getMemSize() const
{
return 0;
return 0;
}
void Waypoint::Save (Writer &writer) const
void Waypoint::Save(Writer& writer) const
{
writer.Stream() << writer.ind() << "<Waypoint "
<< "name=\"" << Name << "\" "
<< "Px=\"" << EndPos.getPosition().x << "\" "
<< "Py=\"" << EndPos.getPosition().y << "\" "
<< "Pz=\"" << EndPos.getPosition().z << "\" "
<< "Q0=\"" << EndPos.getRotation()[0] << "\" "
<< "Q1=\"" << EndPos.getRotation()[1] << "\" "
<< "Q2=\"" << EndPos.getRotation()[2] << "\" "
<< "Q3=\"" << EndPos.getRotation()[3] << "\" "
<< "vel=\"" << Velocity << "\" "
<< "acc=\"" << Acceleration << "\" "
<< "cont=\"" << int((Cont)?1:0) << "\" "
<< "tool=\"" << Tool << "\" "
<< "base=\"" << Base << "\" ";
if(Type == Waypoint::PTP)
writer.Stream() << writer.ind() << "<Waypoint "
<< "name=\"" << Name << "\" "
<< "Px=\"" << EndPos.getPosition().x << "\" "
<< "Py=\"" << EndPos.getPosition().y << "\" "
<< "Pz=\"" << EndPos.getPosition().z << "\" "
<< "Q0=\"" << EndPos.getRotation()[0] << "\" "
<< "Q1=\"" << EndPos.getRotation()[1] << "\" "
<< "Q2=\"" << EndPos.getRotation()[2] << "\" "
<< "Q3=\"" << EndPos.getRotation()[3] << "\" "
<< "vel=\"" << Velocity << "\" "
<< "acc=\"" << Acceleration << "\" "
<< "cont=\"" << int((Cont) ? 1 : 0) << "\" "
<< "tool=\"" << Tool << "\" "
<< "base=\"" << Base << "\" ";
if (Type == Waypoint::PTP) {
writer.Stream() << " type=\"PTP\"/> ";
else if(Type == Waypoint::LINE)
}
else if (Type == Waypoint::LINE) {
writer.Stream() << " type=\"LIN\"/> ";
else if(Type == Waypoint::CIRC)
}
else if (Type == Waypoint::CIRC) {
writer.Stream() << " type=\"CIRC\"/> ";
else if(Type == Waypoint::WAIT)
}
else if (Type == Waypoint::WAIT) {
writer.Stream() << " type=\"WAIT\"/> ";
else if(Type == Waypoint::UNDEF)
}
else if (Type == Waypoint::UNDEF) {
writer.Stream() << " type=\"UNDEF\"/> ";
writer.Stream()<< std::endl;
}
writer.Stream() << std::endl;
}
void Waypoint::Restore(XMLReader &reader)
void Waypoint::Restore(XMLReader& reader)
{
// read my Element
reader.readElement("Waypoint");
@@ -127,24 +130,26 @@ void Waypoint::Restore(XMLReader &reader)
reader.getAttributeAsFloat("Q2"),
reader.getAttributeAsFloat("Q3")));
Velocity = (float) reader.getAttributeAsFloat("vel");
Acceleration = (float) reader.getAttributeAsFloat("acc");
Cont = (reader.getAttributeAsInteger("cont") != 0)?true:false;
Tool = reader.getAttributeAsInteger("tool");
Base = reader.getAttributeAsInteger("base");
Velocity = (float)reader.getAttributeAsFloat("vel");
Acceleration = (float)reader.getAttributeAsFloat("acc");
Cont = (reader.getAttributeAsInteger("cont") != 0) ? true : false;
Tool = reader.getAttributeAsInteger("tool");
Base = reader.getAttributeAsInteger("base");
std::string type = reader.getAttribute("type");
if(type=="PTP")
if (type == "PTP") {
Type = Waypoint::PTP;
else if(type=="LIN")
}
else if (type == "LIN") {
Type = Waypoint::LINE;
else if(type=="CIRC")
}
else if (type == "CIRC") {
Type = Waypoint::CIRC;
else if(type=="WAIT")
}
else if (type == "WAIT") {
Type = Waypoint::WAIT;
else
}
else {
Type = Waypoint::UNDEF;
}
}