From ec74d351f0c533da1626b05d1db9e20b678a8f72 Mon Sep 17 00:00:00 2001
From: Chris Hennes <chennes@pioneerlibrarysystem.org>
Date: Tue, 29 Mar 2022 13:24:17 -0500
Subject: [PATCH] Robot: PR6497 move return statement to new line

---
 .../Robot/App/kdl_cp/chainiksolverpos_nr.cpp  |  3 +-
 .../App/kdl_cp/chainiksolvervel_pinv.cpp      |  3 +-
 .../App/kdl_cp/chainiksolvervel_wdls.cpp      |  3 +-
 .../Robot/App/kdl_cp/chainjnttojacsolver.cpp  |  3 +-
 src/Mod/Robot/App/kdl_cp/tree.cpp             |  6 ++--
 .../App/kdl_cp/treeiksolverpos_nr_jl.cpp      |  3 +-
 .../App/kdl_cp/utilities/svd_eigen_HH.cpp     | 33 ++++++++++++-------
 7 files changed, 36 insertions(+), 18 deletions(-)

diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp
index b10dff5ec1..37823f9886 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp
@@ -57,7 +57,8 @@ namespace KDL
 
     const char* ChainIkSolverPos_NR::strError(const int error) const
     {
-        if (E_IKSOLVER_FAILED == error) return "Child IK solver failed";
+        if (E_IKSOLVER_FAILED == error)
+            return "Child IK solver failed";
         else return SolverI::strError(error);
     }
 }
diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv.cpp
index 979d11b307..8dd23b316d 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv.cpp
@@ -109,7 +109,8 @@ namespace KDL
 
     const char* ChainIkSolverVel_pinv::strError(const int error) const
     {
-        if (E_SVD_FAILED == error) return "SVD failed";
+        if (E_SVD_FAILED == error)
+            return "SVD failed";
         else return SolverI::strError(error);
     }
 }
diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp
index 80bc45022e..119e9268f6 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp
@@ -175,7 +175,8 @@ namespace KDL
 
     const char* ChainIkSolverVel_wdls::strError(const int error) const
     {
-        if (E_SVD_FAILED == error) return "SVD failed";
+        if (E_SVD_FAILED == error)
+            return "SVD failed";
         else return SolverI::strError(error);
     }
 
diff --git a/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp b/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp
index e84bbc7ce7..171e3b5948 100644
--- a/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp
@@ -100,7 +100,8 @@ namespace KDL
 
     const char* ChainJntToJacSolver::strError(const int error) const
     {
-        if (E_JAC_FAILED == error) return "Jac Failed";
+        if (E_JAC_FAILED == error)
+            return "Jac Failed";
         else return SolverI::strError(error);
     }
 }
diff --git a/src/Mod/Robot/App/kdl_cp/tree.cpp b/src/Mod/Robot/App/kdl_cp/tree.cpp
index 50425e298c..463e754c13 100644
--- a/src/Mod/Robot/App/kdl_cp/tree.cpp
+++ b/src/Mod/Robot/App/kdl_cp/tree.cpp
@@ -125,12 +125,14 @@ bool Tree::addTreeRecursive(SegmentMap::const_iterator root, const std::string&
             parents_chain_root.push_back(s->first);
             if (s->first == root_name) break;
         }
-        if (parents_chain_root.empty() || parents_chain_root.back() != root_name) return false;
+        if (parents_chain_root.empty() || parents_chain_root.back() != root_name)
+            return false;
         for (SegmentMap::const_iterator s=getSegment(chain_tip); s!=segments.end(); s = GetTreeElementParent(s->second)){
             parents_chain_tip.push_back(s->first);
             if (s->first == root_name) break;
         }
-        if (parents_chain_tip.empty() || parents_chain_tip.back()  != root_name) return false;
+        if (parents_chain_tip.empty() || parents_chain_tip.back()  != root_name)
+            return false;
         
         // remove common part of segment lists
         SegmentMap::key_type last_segment = root_name;
diff --git a/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp b/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp
index 2b0b1a3c8a..ce535b2e5b 100644
--- a/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp
+++ b/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp
@@ -58,7 +58,8 @@ namespace KDL {
                 delta_twist->second = diff(f_it->second, f_des_it->second);
             }
             double res = iksolver.CartToJnt(q_out, delta_twists, delta_q);
-            if (res < eps) return res;
+            if (res < eps)
+                return res;
             
             Add(q_out, delta_q, q_out);
             
diff --git a/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.cpp b/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.cpp
index 35349039f9..8da1407f6b 100644
--- a/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.cpp
+++ b/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.cpp
@@ -58,14 +58,16 @@ namespace KDL{
                         s += U(k,i)*U(k,i);
                     }
                     f=U(i,i);  // f is the diag elem
-					if (!(s>=0)) return -3;
+					if (!(s>=0))
+					    return -3;
                     g = -SIGN(sqrt(s),f);
                     h=f*g-s;
                     U(i,i)=f-g;
                     for (j=ppi;j<cols;j++) {
                         // dot product of columns i and j, starting from the i-th row
                         for (s=0.0,k=i;k<rows;k++) s += U(k,i)*U(k,j);
-						if (!(h!=0)) return -4;
+						if (!(h!=0))
+						    return -4;
                         f=s/h;
                         // copy the scaled i-th column into the j-th column
                         for (k=i;k<rows;k++) U(k,j) += f*U(k,i);
@@ -85,11 +87,13 @@ namespace KDL{
                         s += U(i,k)*U(i,k);
                     }
                     f=U(i,ppi);
-					if (!(s>=0)) return -5;
+					if (!(s>=0))
+					    return -5;
                     g = -SIGN(sqrt(s),f);
                     h=f*g-s;
                     U(i,ppi)=f-g;
-					if (!(h!=0)) return -6;
+					if (!(h!=0))
+					    return -6;
                     for (k=ppi;k<cols;k++) tmp(k)=U(i,k)/h;
                     for (j=ppi;j<rows;j++) {
                         for (s=0.0,k=ppi;k<cols;k++) s += U(j,k)*U(i,k);
@@ -106,7 +110,8 @@ namespace KDL{
         for (i=cols-1;i>=0;i--) {
             if (i<cols-1) {
                 if (fabs(g)>epsilon) {
-					if (!(U(i,ppi)!=0)) return -7;
+					if (!(U(i,ppi)!=0))
+					    return -7;
                     for (j=ppi;j<cols;j++) V(j,i)=(U(i,j)/U(i,ppi))/g;
                     for (j=ppi;j<cols;j++) {
                         for (s=0.0,k=ppi;k<cols;k++) s += U(i,k)*V(k,j);
@@ -128,7 +133,8 @@ namespace KDL{
                 g=1.0/g;
                 for (j=ppi;j<cols;j++) {
                     for (s=0.0,k=ppi;k<rows;k++) s += U(k,i)*U(k,j);
-					if (!(U(i,i)!=0)) return -8;
+					if (!(U(i,i)!=0))
+					    return -8;
                     f=(s/U(i,i))*g;
                     for (k=i;k<rows;k++) U(k,j) += f*U(k,i);
                 }
@@ -161,7 +167,8 @@ namespace KDL{
                         g=S(i);
                         h=PYTHAG(f,g);
                         S(i)=h;
-						if (!(h!=0)) return -9;
+						if (!(h!=0))
+						    return -9;
                         h=1.0/h;
                         c=g*h;
                         s=(-f*h);
@@ -188,12 +195,15 @@ namespace KDL{
                 y=S(nm);
                 g=tmp(nm);
                 h=tmp(k);
-				if (!(h!=0&&y!=0)) return -10;
+				if (!(h!=0&&y!=0))
+				    return -10;
                 f=((y-z)*(y+z)+(g-h)*(g+h))/(2.0*h*y);
                 
                 g=PYTHAG(f,1.0);
-				if (!(x!=0)) return -11;
-				if (!((f+SIGN(g,f))!=0)) return -12;
+				if (!(x!=0))
+				    return -11;
+				if (!((f+SIGN(g,f))!=0))
+				    return -12;
                 f=((x-z)*(x+z)+h*((y/(f+SIGN(g,f)))-h))/x;
                 
                 /* Next QR transformation: */
@@ -206,7 +216,8 @@ namespace KDL{
                     g=c*g;
                     z=PYTHAG(f,h);
                     tmp(j)=z;
-					if (!(z!=0)) return -13;
+					if (!(z!=0))
+					    return -13;
                     c=f/z;
                     s=h/z;
                     f=x*c+g*s;