formatting

source/RobotAPI/components/units/KinematicUnitObserver.cpp

@@ -44,7 +44,7 @@ using namespace armarx;
 // ********************************************************************
 void KinematicUnitObserver::onInitObserver()
 {
-	// read names of kinematic chain elements belonging to this unit from XML and setup a map of all joints
+    // read names of kinematic chain elements belonging to this unit from XML and setup a map of all joints
     // the kinematic chain elements belonging to this unit are defined in a RobotNodeSet
     std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
     robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
@@ -64,16 +64,16 @@ void KinematicUnitObserver::onInitObserver()
     std::vector< VirtualRobot::RobotNodePtr > robotNodes;
     robotNodes = robotNodeSetPtr->getAllRobotNodes();
 
-	// register all channels
-	offerChannel("jointangles","Joint values of the " + robotNodeSetName + " kinematic chain");
-	offerChannel("jointvelocities","Joint velocities of the " + robotNodeSetName + "kinematic chain");
-	offerChannel("jointtorques","Joint torques of the" + robotNodeSetName + " kinematic chain");
-	offerChannel("jointcurrents","Joint currents of the " + robotNodeSetName + " kinematic chain");
+    // register all channels
+    offerChannel("jointangles","Joint values of the " + robotNodeSetName + " kinematic chain");
+    offerChannel("jointvelocities","Joint velocities of the " + robotNodeSetName + "kinematic chain");
+    offerChannel("jointtorques","Joint torques of the" + robotNodeSetName + " kinematic chain");
+    offerChannel("jointcurrents","Joint currents of the " + robotNodeSetName + " kinematic chain");
     offerChannel("jointmotortemperatures","Joint motor temperatures of the " + robotNodeSetName + " kinematic chain");
     offerChannel("jointcontrolmodes","Joint motor temperatures of the " + robotNodeSetName + " kinematic chain");
 
 
-	// register all data fields
+    // register all data fields
     for (std::vector<VirtualRobot::RobotNodePtr>::iterator it = robotNodes.begin(); it != robotNodes.end(); it++)
     {
         std::string jointName = (*it)->getName();
@@ -81,21 +81,21 @@ void KinematicUnitObserver::onInitObserver()
         offerDataFieldWithDefault("jointcontrolmodes", jointName, ControlModeToString(eUnknown), "Controlmode of the " + jointName + " joint");
         offerDataField("jointangles", jointName, VariantType::Float, "Joint angle of the " + jointName + "  joint in radians");
         offerDataField("jointvelocities", jointName, VariantType::Float, "Joint velocity of the " + jointName + "  joint");
-  		offerDataField("jointtorques", jointName, VariantType::Float, "Joint torque of the " + jointName + "  joint");
-  		offerDataField("jointcurrents", jointName, VariantType::Float, "Joint current of the " + jointName + "  joint");
-  		offerDataField("jointmotortemperatures", jointName, VariantType::Float, "Joint motor temperature of the " + jointName + "  joint");
-    }   
+        offerDataField("jointtorques", jointName, VariantType::Float, "Joint torque of the " + jointName + "  joint");
+        offerDataField("jointcurrents", jointName, VariantType::Float, "Joint current of the " + jointName + "  joint");
+        offerDataField("jointmotortemperatures", jointName, VariantType::Float, "Joint motor temperature of the " + jointName + "  joint");
+    }
     updateChannel("jointcontrolmodes");
 
-	// register all checks	
+    // register all checks
     offerConditionCheck("valid", new ConditionCheckValid());
     offerConditionCheck("updated", new ConditionCheckUpdated());
     offerConditionCheck("equals", new ConditionCheckEquals());
-	offerConditionCheck("inrange", new ConditionCheckInRange());
-	offerConditionCheck("larger", new ConditionCheckLarger());
-	offerConditionCheck("smaller", new ConditionCheckSmaller());
-	
-	usingTopic(robotNodeSetName + "State");
+    offerConditionCheck("inrange", new ConditionCheckInRange());
+    offerConditionCheck("larger", new ConditionCheckLarger());
+    offerConditionCheck("smaller", new ConditionCheckSmaller());
+
+    usingTopic(robotNodeSetName + "State");
 }
 
 void KinematicUnitObserver::onConnectObserver()
@@ -123,10 +123,10 @@ void KinematicUnitObserver::reportJointAngles(const NameValueMap& jointAngles,
 {
     if(jointAngles.size() == 0)
         return;
-    nameValueMapToDataFields("jointangles", jointAngles);
 
+    nameValueMapToDataFields("jointangles", jointAngles);
 
-	updateChannel("jointangles");
+    updateChannel("jointangles");
 }
 
 void KinematicUnitObserver::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c)
@@ -134,7 +134,7 @@ void KinematicUnitObserver::reportJointVelocities(const NameValueMap& jointVeloc
     if(jointVelocities.size() == 0)
         return;
     nameValueMapToDataFields("jointvelocities", jointVelocities);
-	updateChannel("jointvelocities");
+    updateChannel("jointvelocities");
 }
 
 void KinematicUnitObserver::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c)
@@ -142,7 +142,7 @@ void KinematicUnitObserver::reportJointTorques(const NameValueMap& jointTorques,
     if(jointTorques.size() == 0)
         return;
     nameValueMapToDataFields("jointtorques", jointTorques);
-	updateChannel("jointtorques");
+    updateChannel("jointtorques");
 }
 
 void KinematicUnitObserver::reportJointCurrents(const NameValueMap& jointCurrents,  bool aValueChanged, const Ice::Current& c)
@@ -150,7 +150,7 @@ void KinematicUnitObserver::reportJointCurrents(const NameValueMap& jointCurrent
     if(jointCurrents.size() == 0)
         return;
     nameValueMapToDataFields("jointcurrents", jointCurrents);
-	updateChannel("jointcurrents");
+    updateChannel("jointcurrents");
 }
 
 void KinematicUnitObserver::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c)
@@ -170,13 +170,13 @@ void KinematicUnitObserver::reportJointStatuses(const NameStatusMap &jointStatus
 // ********************************************************************
 void KinematicUnitObserver::nameValueMapToDataFields(const std::string &channelName, const NameValueMap& nameValueMap)
 {
-	NameValueMap::const_iterator iter = nameValueMap.begin();
+    NameValueMap::const_iterator iter = nameValueMap.begin();
 
-	while(iter != nameValueMap.end())
-	{
+    while(iter != nameValueMap.end())
+    {
         setDataFieldFlatCopy(channelName, iter->first, new Variant(iter->second));
-		iter++;
-	}
+        iter++;
+    }
 }
 
 PropertyDefinitionsPtr KinematicUnitObserver::createPropertyDefinitions()

source/RobotAPI/components/units/KinematicUnitObserver.h

@@ -70,7 +70,10 @@ namespace armarx
         void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
         void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
 
-        virtual std::string getDefaultName() const { return "KinematicUnitObserver"; };
+        virtual std::string getDefaultName() const
+        {
+            return "KinematicUnitObserver";
+        }
 
         /**
          * @see PropertyUser::createPropertyDefinitions()