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stack-of-tasks · Nov 25, 2020 · 3ef00a2 · 3ef00a2
1 parent 6bf136e
commit 3ef00a2
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Showing 4 changed files with 24 additions and 30 deletions.
diff --git a/include/sot/tools/simpleseqplay.hh b/include/sot/tools/simpleseqplay.hh
@@ -40,10 +40,10 @@ class SimpleSeqPlay : public dg::Entity {
   void start();
   virtual std::string getDocString() const;
 
-  bool waiting () const;
-  bool initializing () const;
-  bool executing () const;
-  bool finished () const;
+  bool waiting() const;
+  bool initializing() const;
+  bool executing() const;
+  bool finished() const;
 
  private:
   dg::Vector& computePosture(dg::Vector& pos, int t);

diff --git a/src/python-module.cc b/src/python-module.cc
@@ -9,32 +9,24 @@
 
 namespace dgst = dynamicgraph::sot::tools;
 
-typedef boost::mpl::vector<
-  dgst::CubicInterpolation
-, dgst::CubicInterpolationSE3
-, dgst::Oscillator
-, dgst::Seqplay
-> entities_t;
+typedef boost::mpl::vector<dgst::CubicInterpolation, dgst::CubicInterpolationSE3, dgst::Oscillator, dgst::Seqplay>
+    entities_t;
 
-struct register_entity
-{
-template<typename T> inline void operator()(boost::type<T>) const
-{
-  dynamicgraph::python::exposeEntity<T>();
-}
+struct register_entity {
+  template <typename T>
+  inline void operator()(boost::type<T>) const {
+    dynamicgraph::python::exposeEntity<T>();
+  }
 };
 
-BOOST_PYTHON_MODULE(wrap)
-{
+BOOST_PYTHON_MODULE(wrap) {
   bp::import("dynamic_graph");
   boost::mpl::for_each<entities_t, boost::type<boost::mpl::_> >(register_entity());
 
   using dgst::SimpleSeqPlay;
   dynamicgraph::python::exposeEntity<SimpleSeqPlay>()
-    .def("waiting", &SimpleSeqPlay::waiting)
-    .def("initializing", &SimpleSeqPlay::initializing)
-    .def("executing", &SimpleSeqPlay::executing)
-    .def("finished", &SimpleSeqPlay::finished)
-  ;
+      .def("waiting", &SimpleSeqPlay::waiting)
+      .def("initializing", &SimpleSeqPlay::initializing)
+      .def("executing", &SimpleSeqPlay::executing)
+      .def("finished", &SimpleSeqPlay::finished);
 }
-
diff --git a/src/simpleseqplay.cc b/src/simpleseqplay.cc
@@ -175,10 +175,10 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) {
   return pos;
 }
 
-bool SimpleSeqPlay::waiting ()      const { return state_ == 0; }
-bool SimpleSeqPlay::initializing () const { return state_ == 1; }
-bool SimpleSeqPlay::executing ()    const { return state_ == 2; }
-bool SimpleSeqPlay::finished ()     const { return state_ == 3; }
+bool SimpleSeqPlay::waiting() const { return state_ == 0; }
+bool SimpleSeqPlay::initializing() const { return state_ == 1; }
+bool SimpleSeqPlay::executing() const { return state_ == 2; }
+bool SimpleSeqPlay::finished() const { return state_ == 3; }
 
 std::string SimpleSeqPlay::getDocString() const {
   return "Provide joint references for a whole-body motion\n"

diff --git a/tests/test_simpleseqplay.cc b/tests/test_simpleseqplay.cc
@@ -11,8 +11,10 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 BOOST_AUTO_TEST_CASE(test_simpleseqplay) {
   dg::sot::tools::SimpleSeqPlay aSimpleSeqPlay("simpleseqplay");
 
-  dg::Vector initial (32);
-  initial << 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, 0.0, 0.006761, 0.25847, 0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1, -0.005, -0.25847, -0.173046, 0.0002, -0.525366, 0.0, 0.0, 0.1, -0.005, 0.0, 0.0;
+  dg::Vector initial(32);
+  initial << 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, 0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708,
+      0.0, 0.006761, 0.25847, 0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1, -0.005, -0.25847, -0.173046, 0.0002,
+      -0.525366, 0.0, 0.0, 0.1, -0.005, 0.0, 0.0;
   aSimpleSeqPlay.currentPostureSIN_.setConstant(initial);
 
   BOOST_CHECK(aSimpleSeqPlay.waiting());