Clang Format Change

imstylen · Sep 27, 2018 · 7485999 · 7485999
1 parent 30d4c41
commit 7485999
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Showing 5 changed files with 70 additions and 68 deletions.
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.h b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -31,7 +31,7 @@ enum ConvertURDFFlags
 	CUF_ENABLE_SLEEPING = 2048,
 	CUF_INITIALIZE_SAT_FEATURES = 4096,
 	CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
-  CUF_PARSE_SENSORS = 16384,
+	CUF_PARSE_SENSORS = 16384,
 };
 
 struct UrdfVisualShapeCache

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -1438,27 +1438,27 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement* config, ErrorLogger* l
 
 bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
 {
-  // Sensors are mapped to Links with a Fixed Joints connecting to the parents.
-  // They has no extent or mass so they will work with the existing
-  // model without affecting the system.
-  logger->reportError("Adding Sensor ");
-  const char* sensorName = config->Attribute("name");
+	// Sensors are mapped to Links with a Fixed Joints connecting to the parents.
+	// They has no extent or mass so they will work with the existing
+	// model without affecting the system.
+	logger->reportError("Adding Sensor ");
+	const char* sensorName = config->Attribute("name");
 	if (!sensorName)
 	{
 		logger->reportError("Sensor with no name");
 		return false;
 	}
 
-  logger->reportError(sensorName);
-  link.m_name = sensorName;
-  link.m_linkTransformInWorld.setIdentity();
-  link.m_inertia.m_mass = 0.f;
-  link.m_inertia.m_linkLocalFrame.setIdentity();
-  link.m_inertia.m_ixx = 0.f;
-  link.m_inertia.m_iyy = 0.f;
-  link.m_inertia.m_izz = 0.f;
+	logger->reportError(sensorName);
+	link.m_name = sensorName;
+	link.m_linkTransformInWorld.setIdentity();
+	link.m_inertia.m_mass = 0.f;
+	link.m_inertia.m_linkLocalFrame.setIdentity();
+	link.m_inertia.m_ixx = 0.f;
+	link.m_inertia.m_iyy = 0.f;
+	link.m_inertia.m_izz = 0.f;
 
-  // Get Parent Link
+	// Get Parent Link
 	XMLElement* parent_xml = config->FirstChildElement("parent");
 	if (parent_xml)
 	{
@@ -1482,12 +1482,12 @@ bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint,
 		}
 	}
 
-  joint.m_name = std::string(sensorName).append("_Joint");
-  joint.m_childLinkName = sensorName;
-  joint.m_type = URDFFixedJoint;
-  joint.m_localJointAxis.setValue(0, 0, 0);
+	joint.m_name = std::string(sensorName).append("_Joint");
+	joint.m_childLinkName = sensorName;
+	joint.m_type = URDFFixedJoint;
+	joint.m_localJointAxis.setValue(0, 0, 0);
 
-  // Get transform from Parent Link to Joint Frame
+	// Get transform from Parent Link to Joint Frame
 	XMLElement* origin_xml = config->FirstChildElement("origin");
 	if (origin_xml)
 	{
@@ -1499,7 +1499,7 @@ bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint,
 		}
 	}
 
-  return true;
+	return true;
 }
 
 bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
@@ -1713,46 +1713,47 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 		}
 	}
 
-  if (parseSensors) {
-    // Get all Sensor Elements.
-    for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor"))
-    {
-      UrdfLink* sensor = new UrdfLink;
-      UrdfJoint* sensor_joint = new UrdfJoint;
-
-      if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger))
-      {
-        if (m_urdf2Model.m_links.find(sensor->m_name.c_str()))
-        {
-          logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique");
-          logger->reportError(sensor->m_name.c_str());
-          delete sensor;
-          delete sensor_joint;
-          return false;
-        }
-        else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str()))
-        {
-          logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique");
-          logger->reportError(sensor_joint->m_name.c_str());
-          delete sensor;
-          delete sensor_joint;
-          return false;
-        }
-        else
-        {
-          m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor);
-          m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint);
-        }
-      }
-      else
-      {
-        logger->reportError("failed to parse sensor");
-        delete sensor;
-        delete sensor_joint;
-        return false;
-      }
-    }
-  }
+	if (parseSensors)
+	{
+		// Get all Sensor Elements.
+		for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor"))
+		{
+			UrdfLink* sensor = new UrdfLink;
+			UrdfJoint* sensor_joint = new UrdfJoint;
+
+			if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger))
+			{
+				if (m_urdf2Model.m_links.find(sensor->m_name.c_str()))
+				{
+					logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique");
+					logger->reportError(sensor->m_name.c_str());
+					delete sensor;
+					delete sensor_joint;
+					return false;
+				}
+				else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str()))
+				{
+					logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique");
+					logger->reportError(sensor_joint->m_name.c_str());
+					delete sensor;
+					delete sensor_joint;
+					return false;
+				}
+				else
+				{
+					m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor);
+					m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint);
+				}
+			}
+			else
+			{
+				logger->reportError("failed to parse sensor");
+				delete sensor;
+				delete sensor_joint;
+				return false;
+			}
+		}
+	}
 
 	if (m_urdf2Model.m_links.size() == 0)
 	{

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -267,7 +267,7 @@ class UrdfParser
 	bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
 	bool parseJoint(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
 	bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement* config, ErrorLogger* logger);
-  bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
+	bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
 
 public:
 	UrdfParser();
@@ -286,11 +286,12 @@ class UrdfParser
 		m_urdfScaling = scaling;
 	}
 
-  bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors);
+	bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors);
 
-	bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase) {
-    return loadUrdf(urdfText, logger, forceFixedBase, false);
-  }
+	bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase)
+	{
+		return loadUrdf(urdfText, logger, forceFixedBase, false);
+	}
 
 	bool loadSDF(const char* sdfText, ErrorLogger* logger);
 

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5676,7 +5676,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
 							}
 						}
 					}  //fi
-					//break;
+					   //break;
 				}
 			}
 		}  //if (body && body->m_rigidBody)

diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
@@ -820,7 +820,7 @@ enum eURDF_Flags
 	URDF_ENABLE_SLEEPING = 2048,
 	URDF_INITIALIZE_SAT_FEATURES = 4096,
 	URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
-  URDF_PARSE_SENSORS = 16384,
+	URDF_PARSE_SENSORS = 16384,
 };
 
 enum eUrdfGeomTypes  //sync with UrdfParser UrdfGeomTypes