From 959b372ef2d9bc73c01f37b4b83c88579f59f11d Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 1 Dec 2021 09:25:24 +0100
Subject: [PATCH] formatting file
---
.../client/common/RobotReader.cpp | 64 ++++++++++---------
1 file changed, 34 insertions(+), 30 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 5309febc6..4428f3d96 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -3,19 +3,19 @@
#include <mutex>
#include <optional>
-#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
-#include "RobotAPI/libraries/armem_robot/types.h"
+#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/exceptions/LocalException.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/PackagePath.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot/types.h>
#include <RobotAPI/libraries/armem_robot_state/aron/JointState.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
@@ -54,7 +54,8 @@ namespace armarx::armem::robot_state
try
{
memoryReader = memoryNameSystem.useReader(properties.memoryName);
- ARMARX_IMPORTANT << "RobotReader: Connected to memory '" << properties.memoryName << "'";
+ ARMARX_IMPORTANT << "RobotReader: Connected to memory '" << properties.memoryName
+ << "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
@@ -81,9 +82,9 @@ namespace armarx::armem::robot_state
RobotReader::get(const robot::RobotDescription& description, const armem::Time& timestamp)
{
robot::Robot robot{.description = description,
- .instance = "", // TODO(fabian.reister):
- .config = {}, // will be populated by synchronize
- .timestamp = timestamp};
+ .instance = "", // TODO(fabian.reister):
+ .config = {}, // will be populated by synchronize
+ .timestamp = timestamp};
synchronize(robot, timestamp);
@@ -300,11 +301,12 @@ namespace armarx::armem::robot_state
// clang-format on
const armem::wm::EntityInstance* instance = nullptr;
- providerSegment.forEachInstance([&instance](const wm::EntityInstance & i)
- {
- instance = &i;
- return false; // break
- });
+ providerSegment.forEachInstance(
+ [&instance](const wm::EntityInstance& i)
+ {
+ instance = &i;
+ return false; // break
+ });
if (!instance)
{
ARMARX_WARNING << "No entity snapshots found";
@@ -320,7 +322,8 @@ namespace armarx::armem::robot_state
std::optional<AronClass>
tryCast(const wm::EntityInstance& item)
{
- static_assert(std::is_base_of<armarx::aron::codegenerator::cpp::AronCppClass, AronClass>::value);
+ static_assert(
+ std::is_base_of<armarx::aron::codegenerator::cpp::AronCppClass, AronClass>::value);
try
{
@@ -344,27 +347,29 @@ namespace armarx::armem::robot_state
.getCoreSegment(properties.proprioceptionCoreSegment);
// clang-format on
- coreSegment.forEachEntity([&jointMap](const wm::Entity & entity)
- {
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
+ coreSegment.forEachEntity(
+ [&jointMap](const wm::Entity& entity)
+ {
+ const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- const auto proprioception = tryCast<::armarx::armem::arondto::Proprioception>(entityInstance);
- ARMARX_CHECK(proprioception.has_value());
+ const auto proprioception =
+ tryCast<::armarx::armem::arondto::Proprioception>(entityInstance);
+ ARMARX_CHECK(proprioception.has_value());
const armarx::armem::prop::arondto::Joints& joints = proprioception->joints;
- // const auto jointState = tryCast<::armarx::armem::arondto::JointState>(entityInstance);
- // if (not jointState)
- // {
- // ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
- // return;
- // }
+ // const auto jointState = tryCast<::armarx::armem::arondto::JointState>(entityInstance);
+ // if (not jointState)
+ // {
+ // ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
+ // return;
+ // }
- jointMap = joints.position;
+ jointMap = joints.position;
- // jointMap.emplace(jointState->name, jointState->position);
- });
+ // jointMap.emplace(jointState->name, jointState->position);
+ });
if (jointMap.empty())
{
@@ -572,7 +577,6 @@ namespace armarx::armem::robot_state
coreSegment.forEachInstance(
[&forceTorques](const wm::EntityInstance& entityInstance)
{
-
const auto proprioception =
tryCast<::armarx::armem::arondto::Proprioception>(entityInstance);
ARMARX_CHECK(proprioception.has_value());
--
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