From 0006f6fc8e69747f6b7fdb77d765c413d1c1a30c Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 7 Apr 2020 10:33:18 +0200
Subject: [PATCH] Avoid "using namespace"
---
.../core/math/LinearizeAngularTrajectory.cpp | 98 ++++++------
.../libraries/core/math/TimeSeriesUtils.cpp | 142 +++++++++---------
2 files changed, 120 insertions(+), 120 deletions(-)
diff --git a/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.cpp b/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.cpp
index 672c8731c..eecf1a0b4 100644
--- a/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.cpp
+++ b/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.cpp
@@ -24,70 +24,70 @@
#include "LinearizeAngularTrajectory.h"
#include "MathUtils.h"
-using namespace armarx;
-using namespace math;
-
-LinearizeAngularTrajectory::LinearizeAngularTrajectory(float initialLinearValue)
- : linearValue(initialLinearValue)
-{
-}
-
-float LinearizeAngularTrajectory::update(float angle)
-{
- linearValue = linearValue + MathUtils::angleModPI(angle - linearValue);
- return linearValue;
-}
-
-float LinearizeAngularTrajectory::getLinearValue()
-{
- return linearValue;
-}
-
-std::vector<float> LinearizeAngularTrajectory::Linearize(const std::vector<float>& data)
+namespace armarx::math
{
- std::vector<float> result;
- result.reserve(data.size());
- if (data.size() == 0)
+ LinearizeAngularTrajectory::LinearizeAngularTrajectory(float initialLinearValue)
+ : linearValue(initialLinearValue)
{
- return result;
}
- LinearizeAngularTrajectory lat(data.at(0));
- for (float v : data)
+
+ float LinearizeAngularTrajectory::update(float angle)
{
- result.push_back(lat.update(v));
+ linearValue = linearValue + MathUtils::angleModPI(angle - linearValue);
+ return linearValue;
}
- return result;
-}
-void LinearizeAngularTrajectory::LinearizeRef(std::vector<float>& data)
-{
- if (data.size() == 0)
+ float LinearizeAngularTrajectory::getLinearValue()
{
- return;
+ return linearValue;
}
- LinearizeAngularTrajectory lat(data.at(0));
- for (size_t i = 0; i < data.size(); i++)
+
+ std::vector<float> LinearizeAngularTrajectory::Linearize(const std::vector<float>& data)
{
- data.at(i) = lat.update(data.at(i));
+ std::vector<float> result;
+ result.reserve(data.size());
+ if (data.size() == 0)
+ {
+ return result;
+ }
+ LinearizeAngularTrajectory lat(data.at(0));
+ for (float v : data)
+ {
+ result.push_back(lat.update(v));
+ }
+ return result;
}
-}
-std::vector<float> LinearizeAngularTrajectory::Angularize(const std::vector<float>& data, float center)
-{
- std::vector<float> result;
- result.reserve(data.size());
- for (float v : data)
+ void LinearizeAngularTrajectory::LinearizeRef(std::vector<float>& data)
{
- result.push_back(MathUtils::angleModX(v, center));
+ if (data.size() == 0)
+ {
+ return;
+ }
+ LinearizeAngularTrajectory lat(data.at(0));
+ for (size_t i = 0; i < data.size(); i++)
+ {
+ data.at(i) = lat.update(data.at(i));
+ }
}
- return result;
-}
-void LinearizeAngularTrajectory::AngularizeRef(std::vector<float>& data, float center)
-{
- for (size_t i = 0; i < data.size(); i++)
+ std::vector<float> LinearizeAngularTrajectory::Angularize(const std::vector<float>& data, float center)
{
- data.at(i) = MathUtils::angleModX(data.at(i), center);
+ std::vector<float> result;
+ result.reserve(data.size());
+ for (float v : data)
+ {
+ result.push_back(MathUtils::angleModX(v, center));
+ }
+ return result;
}
+ void LinearizeAngularTrajectory::AngularizeRef(std::vector<float>& data, float center)
+ {
+ for (size_t i = 0; i < data.size(); i++)
+ {
+ data.at(i) = MathUtils::angleModX(data.at(i), center);
+ }
+
+ }
}
diff --git a/source/RobotAPI/libraries/core/math/TimeSeriesUtils.cpp b/source/RobotAPI/libraries/core/math/TimeSeriesUtils.cpp
index 4045ee1d8..6b1607730 100644
--- a/source/RobotAPI/libraries/core/math/TimeSeriesUtils.cpp
+++ b/source/RobotAPI/libraries/core/math/TimeSeriesUtils.cpp
@@ -25,99 +25,99 @@
#include "TimeSeriesUtils.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-using namespace armarx;
-using namespace math;
-
-TimeSeriesUtils::TimeSeriesUtils()
+namespace armarx::math
{
-}
-
-std::vector<float> TimeSeriesUtils::Resample(const std::vector<float>& timestamps, const std::vector<float>& data, const std::vector<float>& newTimestamps)
-{
- ARMARX_CHECK_EQUAL(data.size(), timestamps.size());
- ARMARX_CHECK_EQUAL(data.size(), newTimestamps.size());
- std::vector<float> result;
- result.reserve(data.size());
-
- if (data.size() == 0)
+ TimeSeriesUtils::TimeSeriesUtils()
{
- return result;
}
- if (data.size() == 1)
- {
- result.push_back(data.at(0));
- return result;
- }
-
- size_t i = 0;
- size_t j = 0;
- while (j < data.size())
+ std::vector<float> TimeSeriesUtils::Resample(const std::vector<float>& timestamps, const std::vector<float>& data, const std::vector<float>& newTimestamps)
{
- while (newTimestamps.at(j) > timestamps.at(i + 1) && i < data.size() - 2)
+ ARMARX_CHECK_EQUAL(data.size(), timestamps.size());
+ ARMARX_CHECK_EQUAL(data.size(), newTimestamps.size());
+ std::vector<float> result;
+ result.reserve(data.size());
+
+ if (data.size() == 0)
{
- i++;
+ return result;
+ }
+ if (data.size() == 1)
+ {
+ result.push_back(data.at(0));
+ return result;
}
- float f = math::MathUtils::ILerp(timestamps.at(i), timestamps.at(i + 1), newTimestamps.at(j));
- result.push_back(math::MathUtils::LerpClamp(data.at(i), data.at(i + 1), f));
- j++;
- }
- return result;
-}
+ size_t i = 0;
+ size_t j = 0;
-std::vector<float> TimeSeriesUtils::ApplyFilter(const std::vector<float>& data, const std::vector<float>& filter, BorderMode mode)
-{
- std::vector<float> result;
- size_t start = filter.size() / 2;
- for (size_t i = start; i < data.size() + start; i++)
- {
- float y = 0;
- float w = 0;
- for (size_t j = 0; j < filter.size(); j++)
+ while (j < data.size())
{
- int k = (int)i - (int)j;
- if (k < 0)
+ while (newTimestamps.at(j) > timestamps.at(i + 1) && i < data.size() - 2)
{
- k = 0;
+ i++;
}
- if (k >= (int)data.size())
+ float f = math::MathUtils::ILerp(timestamps.at(i), timestamps.at(i + 1), newTimestamps.at(j));
+ result.push_back(math::MathUtils::LerpClamp(data.at(i), data.at(i + 1), f));
+ j++;
+ }
+
+ return result;
+ }
+
+ std::vector<float> TimeSeriesUtils::ApplyFilter(const std::vector<float>& data, const std::vector<float>& filter, BorderMode mode)
+ {
+ std::vector<float> result;
+ size_t start = filter.size() / 2;
+ for (size_t i = start; i < data.size() + start; i++)
+ {
+ float y = 0;
+ float w = 0;
+ for (size_t j = 0; j < filter.size(); j++)
{
- k = data.size() - 1;
+ int k = (int)i - (int)j;
+ if (k < 0)
+ {
+ k = 0;
+ }
+ if (k >= (int)data.size())
+ {
+ k = data.size() - 1;
+ }
+ y += data.at(k) * filter.at(j);
+ w += filter.at(j);
}
- y += data.at(k) * filter.at(j);
- w += filter.at(j);
+ result.push_back(w == 0 ? 0 : y / w);
}
- result.push_back(w == 0 ? 0 : y / w);
+ return result;
}
- return result;
-}
-std::vector<float> TimeSeriesUtils::ApplyGaussianFilter(const std::vector<float>& data, float sigma, float sampleTime, BorderMode mode)
-{
- std::vector<float> filter = CreateGaussianFilter(sigma, sampleTime);
- return ApplyFilter(data, filter, mode);
-}
+ std::vector<float> TimeSeriesUtils::ApplyGaussianFilter(const std::vector<float>& data, float sigma, float sampleTime, BorderMode mode)
+ {
+ std::vector<float> filter = CreateGaussianFilter(sigma, sampleTime);
+ return ApplyFilter(data, filter, mode);
+ }
-std::vector<float> TimeSeriesUtils::CreateGaussianFilter(const float sigma, float sampleTime, float truncate)
-{
- std::vector<float> filter;
- int range = (int)(truncate * sigma / sampleTime);
- for (int i = -range; i <= range; i++)
+ std::vector<float> TimeSeriesUtils::CreateGaussianFilter(const float sigma, float sampleTime, float truncate)
{
- float x = i * sampleTime;
- filter.push_back(exp(-x * x / (2 * sigma * sigma) / (sigma * sqrt(2 * M_PI))));
+ std::vector<float> filter;
+ int range = (int)(truncate * sigma / sampleTime);
+ for (int i = -range; i <= range; i++)
+ {
+ float x = i * sampleTime;
+ filter.push_back(exp(-x * x / (2 * sigma * sigma) / (sigma * sqrt(2 * M_PI))));
+ }
+ return filter;
}
- return filter;
-}
-std::vector<float> TimeSeriesUtils::MakeTimestamps(float start, float end, size_t count)
-{
- std::vector<float> result;
- for (size_t i = 0; i < count; i++)
+ std::vector<float> TimeSeriesUtils::MakeTimestamps(float start, float end, size_t count)
{
- result.push_back(MathUtils::Lerp(start, end, (float)i / (float)(count - 1)));
+ std::vector<float> result;
+ for (size_t i = 0; i < count; i++)
+ {
+ result.push_back(MathUtils::Lerp(start, end, (float)i / (float)(count - 1)));
+ }
+ return result;
}
- return result;
}
--
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