pre-commit checks

Author: kamiradi

Diff for: demo/CMakeLists.txt

@@ -10,9 +10,7 @@ add_executable(stiffness_gui src/control_gui.cpp)
 target_link_libraries(stiffness_gui Qt5::Widgets)
 ament_target_dependencies(stiffness_gui rclcpp std_msgs)
 
-install(TARGETS stiffness_gui
-  DESTINATION lib/${PROJECT_NAME}
-)
+install(TARGETS stiffness_gui DESTINATION lib/${PROJECT_NAME})
 
 install(TARGETS pipeline_testbench_example constrained_planning_demo
         DESTINATION lib/${PROJECT_NAME})

Diff for: demo/src/control_gui.cpp

@@ -7,14 +7,16 @@
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/float64_multi_array.hpp>
 
-class StiffnessGUI : public QWidget {
+class StiffnessGUI : public QWidget
+{
   Q_OBJECT
 
 public:
-  StiffnessGUI(std::shared_ptr<rclcpp::Node> node) : node_(node) {
+  StiffnessGUI(std::shared_ptr<rclcpp::Node> node) : node_(node)
+  {
     publisher_ = node_->create_publisher<std_msgs::msg::Float64MultiArray>("/joint_stiffness_controller/command", 10);
 
-    auto *layout = new QVBoxLayout(this);
+    auto* layout = new QVBoxLayout(this);
 
     pos_spin1 = new QDoubleSpinBox();
     pos_spin2 = new QDoubleSpinBox();
@@ -30,32 +32,31 @@ class StiffnessGUI : public QWidget {
     layout->addWidget(new QLabel("Stiffness Joint 2"));
     layout->addWidget(stiff_spin2);
 
-    auto *send_btn = new QPushButton("Send Command");
+    auto* send_btn = new QPushButton("Send Command");
     layout->addWidget(send_btn);
     connect(send_btn, &QPushButton::clicked, this, &StiffnessGUI::send_command);
   }
 
 private slots:
-  void send_command() {
+  void send_command()
+  {
     auto msg = std_msgs::msg::Float64MultiArray();
-    msg.data = {
-      pos_spin1->value(), pos_spin2->value(),
-      stiff_spin1->value(), stiff_spin2->value()
-    };
+    msg.data = { pos_spin1->value(), pos_spin2->value(), stiff_spin1->value(), stiff_spin2->value() };
     publisher_->publish(msg);
   }
 
 private:
   std::shared_ptr<rclcpp::Node> node_;
   rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_;
 
-  QDoubleSpinBox *pos_spin1;
-  QDoubleSpinBox *pos_spin2;
-  QDoubleSpinBox *stiff_spin1;
-  QDoubleSpinBox *stiff_spin2;
+  QDoubleSpinBox* pos_spin1;
+  QDoubleSpinBox* pos_spin2;
+  QDoubleSpinBox* stiff_spin1;
+  QDoubleSpinBox* stiff_spin2;
 };
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv)
+{
   rclcpp::init(argc, argv);
   QApplication app(argc, argv);
 

Diff for: include/stiffness_control/joint_stiffness_controller.hpp

@@ -6,9 +6,11 @@
 #include <hardware_interface/loaned_state_interface.hpp>
 #include <std_msgs/msg/float64_multi_array.hpp>
 
-namespace joint_stiffness_controller {
+namespace joint_stiffness_controller
+{
 
-class JointStiffnessController : public controller_interface::ControllerInterface {
+class JointStiffnessController : public controller_interface::ControllerInterface
+{
 public:
   JointStiffnessController();
 
@@ -25,8 +27,8 @@ class JointStiffnessController : public controller_interface::ControllerInterfac
   rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr command_sub_;
   std::vector<double> desired_positions_;
   std::vector<double> stiffness_gains_;
-  
+
   void command_callback(const std_msgs::msg::Float64MultiArray::SharedPtr msg);
 };
 
-} // namespace joint_stiffness_controller
+}  // namespace joint_stiffness_controller

Diff for: src/joint_stiffness_controller.cpp

@@ -1,58 +1,70 @@
 #include "stiffness_control/joint_stiffness_controller.hpp"
 
-namespace joint_stiffness_controller {
+namespace joint_stiffness_controller
+{
 
-JointStiffnessController::JointStiffnessController() {}
+JointStiffnessController::JointStiffnessController()
+{
+}
 
-controller_interface::CallbackReturn JointStiffnessController::on_init() {
+controller_interface::CallbackReturn JointStiffnessController::on_init()
+{
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn JointStiffnessController::on_configure(const rclcpp_lifecycle::State&) {
+controller_interface::CallbackReturn JointStiffnessController::on_configure(const rclcpp_lifecycle::State&)
+{
   auto node = get_node();
   command_sub_ = node->create_subscription<std_msgs::msg::Float64MultiArray>(
-    "~/command", 10, std::bind(&JointStiffnessController::command_callback, this, std::placeholders::_1));
+      "~/command", 10, std::bind(&JointStiffnessController::command_callback, this, std::placeholders::_1));
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::InterfaceConfiguration JointStiffnessController::command_interface_configuration() const {
+controller_interface::InterfaceConfiguration JointStiffnessController::command_interface_configuration() const
+{
   return {
     controller_interface::interface_configuration_type::INDIVIDUAL,
-    {"joint1/position", "joint2/position"} // replace with your actual joints
+    { "joint1/position", "joint2/position" }  // replace with your actual joints
   };
 }
 
-controller_interface::InterfaceConfiguration JointStiffnessController::state_interface_configuration() const {
+controller_interface::InterfaceConfiguration JointStiffnessController::state_interface_configuration() const
+{
   return {
     controller_interface::interface_configuration_type::INDIVIDUAL,
-    {"joint1/position", "joint2/position"} // same joints
+    { "joint1/position", "joint2/position" }  // same joints
   };
 }
 
-void JointStiffnessController::command_callback(const std_msgs::msg::Float64MultiArray::SharedPtr msg) {
+void JointStiffnessController::command_callback(const std_msgs::msg::Float64MultiArray::SharedPtr msg)
+{
   size_t n = msg->data.size() / 2;
   desired_positions_.resize(n);
   stiffness_gains_.resize(n);
-  for (size_t i = 0; i < n; ++i) {
+  for (size_t i = 0; i < n; ++i)
+  {
     desired_positions_[i] = msg->data[i];
     stiffness_gains_[i] = msg->data[i + n];
   }
 }
 
-controller_interface::return_type JointStiffnessController::update(
-  const rclcpp::Time&, const rclcpp::Duration&) {
-  for (size_t i = 0; i < position_cmd_handles_.size(); ++i) {
+controller_interface::return_type JointStiffnessController::update(const rclcpp::Time&, const rclcpp::Duration&)
+{
+  for (size_t i = 0; i < position_cmd_handles_.size(); ++i)
+  {
     double error = desired_positions_[i] - position_state_handles_[i].get_optional().value_or(0.0);
     double command = stiffness_gains_[i] * error;
-    bool success = position_cmd_handles_[i].set_value(position_state_handles_[i].get_optional().value_or(0.0) + command);
-    if (!success) {
+    bool success =
+        position_cmd_handles_[i].set_value(position_state_handles_[i].get_optional().value_or(0.0) + command);
+    if (!success)
+    {
       RCLCPP_WARN(get_node()->get_logger(), "Failed to set command for joint %zu", i);
-}
+    }
   }
   return controller_interface::return_type::OK;
 }
 
-} // namespace joint_stiffness_controller
+}  // namespace joint_stiffness_controller
 
 #include "pluginlib/class_list_macros.hpp"
 PLUGINLIB_EXPORT_CLASS(joint_stiffness_controller::JointStiffnessController, controller_interface::ControllerInterface)