fix: Formatting.

source/Navigation/components/Navigator/Navigator.cpp

@@ -40,147 +40,169 @@
 #include <Navigation/libraries/factories/NavigationStackFactory.h>
 
 
-namespace armarx::nav::components
+armarx::nav::components::Navigator::Navigator() : executor{platformUnit}
 {
+}
 
-    Navigator::Navigator() : executor{platformUnit}
-    {
-    }
+armarx::nav::components::Navigator::~Navigator()
+{
+}
 
-    Navigator::~Navigator()
-    {
-    }
 
-    void Navigator::onInitComponent()
-    {
-    }
+void
+armarx::nav::components::Navigator::onInitComponent()
+{
+}
 
-    void Navigator::onConnectComponent()
-    {
-    }
 
-    void Navigator::onDisconnectComponent()
-    {
-    }
+void
+armarx::nav::components::Navigator::onConnectComponent()
+{
+}
 
-    void Navigator::onExitComponent()
-    {
-    }
 
-    void Navigator::updateContext()
-    {
-        scene.staticScene = staticScene();
-        scene.robot = getRobot();
-    }
+void
+armarx::nav::components::Navigator::onDisconnectComponent()
+{
+}
 
-    std::string Navigator::getDefaultName() const
-    {
-        return "Navigator";
-    }
 
-    std::vector<core::Pose> convert(const std::vector<Eigen::Matrix4f>& wps)
-    {
-        std::vector<core::Pose> p;
-        p.reserve(wps.size());
-        std::transform(wps.begin(), wps.end(), std::back_inserter(p), [](const auto & p)
-        {
-            return Eigen::Affine3f(p);
-        });
-        return p;
-    }
-
-    std::string
-    Navigator::createConfig(const aron::data::AronDictPtr& stackConfig,
-                            const Ice::Current&)
-    {
-        // TODO: Not thread-safe.
-        const std::string uuid = boost::uuids::to_string(boost::uuids::random_generator()());
+void
+armarx::nav::components::Navigator::onExitComponent()
+{
+}
 
-        server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig, scene);
-        navigators.emplace(uuid, server::Navigator{stack, scene, executor});
 
-        return uuid;
-    }
+void
+armarx::nav::components::Navigator::updateContext()
+{
+    scene.staticScene = staticScene();
+    scene.robot = getRobot();
+}
 
-    void Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
-                           const std::string& navigationMode,
-                           const std::string& configId,
-                           const Ice::Current&)
-    {
-        // TODO: Error handling.
 
-        navigators.at(configId).moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
-    }
+std::string
+armarx::nav::components::Navigator::getDefaultName() const
+{
+    return "Navigator";
+}
 
-    void Navigator::moveTowards(const Eigen::Vector3f& direction,
-                                const std::string& navigationMode,
-                                const std::string& configId,
-                                const Ice::Current&)
+
+std::vector<armarx::nav::core::Pose>
+convert(const std::vector<Eigen::Matrix4f>& wps)
+{
+    std::vector<core::Pose> p;
+    p.reserve(wps.size());
+    std::transform(wps.begin(), wps.end(), std::back_inserter(p), [](const auto & p)
     {
-        // TODO: Error handling.
+        return Eigen::Affine3f(p);
+    });
+    return p;
+}
 
-        navigators.at(configId).moveTowards(direction, core::NavigationFramesMap.from_name(navigationMode));
-    }
 
-    void
-    Navigator::pauseMovement(const Ice::Current&)
-    {
+std::string
+armarx::nav::components::Navigator::createConfig(const aron::data::AronDictPtr& stackConfig,
+        const Ice::Current&)
+{
+    // TODO: Not thread-safe.
+    const std::string uuid = boost::uuids::to_string(boost::uuids::random_generator()());
 
-    }
+    server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig, scene);
+    navigators.emplace(uuid, server::Navigator{stack, scene, executor});
 
-    void
-    Navigator::resumeMovement(const Ice::Current&)
-    {
+    return uuid;
+}
 
-    }
 
-    armarx::PropertyDefinitionsPtr Navigator::createPropertyDefinitions()
-    {
-        armarx::PropertyDefinitionsPtr def =
-            new ComponentPropertyDefinitions(getConfigIdentifier());
+void
+armarx::nav::components::Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
+        const std::string& navigationMode,
+        const std::string& configId,
+        const Ice::Current&)
+{
+    // TODO: Error handling.
+
+    navigators.at(configId).moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
+}
 
-        // Publish to a topic (passing the TopicListenerPrx).
-        // def->topic(myTopicListener);
 
-        // Subscribe to a topic (passing the topic name).
-        // def->topic<PlatformUnitListener>("MyTopic");
+void
+armarx::nav::components::Navigator::moveTowards(const Eigen::Vector3f& direction,
+        const std::string& navigationMode,
+        const std::string& configId,
+        const Ice::Current&)
+{
+    // TODO: Error handling.
 
-        // Use (and depend on) another component (passing the ComponentInterfacePrx).
-        def->component(platformUnit);
+    navigators.at(configId).moveTowards(direction, core::NavigationFramesMap.from_name(navigationMode));
+}
 
-        // Add a required property.
-        // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
 
-        // Add an optionalproperty.
-        // def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
+void
+armarx::nav::components::Navigator::pauseMovement(const Ice::Current&)
+{
 
-        return def;
-    }
+}
 
-    core::StaticScene Navigator::staticScene()
-    {
-        core::StaticScene scene;
 
-        objpose::ObjectPoseSeq objectPoses = ObjectPoseClientPluginUser::getObjectPoses();
+void
+armarx::nav::components::Navigator::resumeMovement(const Ice::Current&)
+{
 
-        scene.objects = util::asSceneObjects(objectPoses);
+}
 
-        return scene;
-    }
 
-    VirtualRobot::RobotPtr Navigator::getRobot()
-    {
-        auto robot = RemoteRobot::createLocalCloneFromFile(
-                         getRobotStateComponent(), VirtualRobot::RobotIO::RobotDescription::eFull);
-        // auto robot = RemoteRobot::createLocalClone(getRobotStateComponent());
-        ARMARX_CHECK_NOT_NULL(robot);
+armarx::PropertyDefinitionsPtr
+armarx::nav::components::Navigator::createPropertyDefinitions()
+{
+    armarx::PropertyDefinitionsPtr def =
+        new ComponentPropertyDefinitions(getConfigIdentifier());
+
+    // Publish to a topic (passing the TopicListenerPrx).
+    // def->topic(myTopicListener);
+
+    // Subscribe to a topic (passing the topic name).
+    // def->topic<PlatformUnitListener>("MyTopic");
+
+    // Use (and depend on) another component (passing the ComponentInterfacePrx).
+    def->component(platformUnit);
 
-        // ARMARX_INFO << "Resetting robot";
-        // robot = VirtualRobot::RobotIO::loadRobot(robot->getFilename());
+    // Add a required property.
+    // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
+
+    // Add an optionalproperty.
+    // def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
+
+    return def;
+}
+
+
+armarx::nav::core::StaticScene
+armarx::nav::components::Navigator::staticScene()
+{
+    core::StaticScene scene;
+
+    objpose::ObjectPoseSeq objectPoses = ObjectPoseClientPluginUser::getObjectPoses();
+
+    scene.objects = util::asSceneObjects(objectPoses);
+
+    return scene;
+}
+
+
+VirtualRobot::RobotPtr
+armarx::nav::components::Navigator::getRobot()
+{
+    auto robot = RemoteRobot::createLocalCloneFromFile(
+                     getRobotStateComponent(), VirtualRobot::RobotIO::RobotDescription::eFull);
+    // auto robot = RemoteRobot::createLocalClone(getRobotStateComponent());
+    ARMARX_CHECK_NOT_NULL(robot);
 
-        RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
+    // ARMARX_INFO << "Resetting robot";
+    // robot = VirtualRobot::RobotIO::loadRobot(robot->getFilename());
 
-        return robot;
-    }
+    RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
 
-} // namespace armarx::nav::components
+    return robot;
+}