diff --git a/source/RobotAPI/components/units/SpeechObserver.cpp b/source/RobotAPI/components/units/SpeechObserver.cpp
index 15b2766b4f07989833590f8a3e2a0aa3bbdd134a..2f5d7f50287e7d767b0a84c06a1407eb1f8178b1 100644
--- a/source/RobotAPI/components/units/SpeechObserver.cpp
+++ b/source/RobotAPI/components/units/SpeechObserver.cpp
@@ -1,6 +1,6 @@
/*
* This file is part of ArmarX.
- *
+ *
* Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
* Karlsruhe Institute of Technology (KIT), all rights reserved.
*
@@ -47,7 +47,7 @@ void SpeechObserver::onConnectObserver()
std::string SpeechObserver::SpeechStateToString(TextToSpeechStateType state)
{
- switch(state)
+ switch (state)
{
case eIdle:
return "Idle";
diff --git a/source/RobotAPI/components/units/SpeechObserver.h b/source/RobotAPI/components/units/SpeechObserver.h
index 769677e2759f0f7934ced448a3db51ef48db82e1..de64953659d7d45b441f6bcd0f568de9ad7090ec 100644
--- a/source/RobotAPI/components/units/SpeechObserver.h
+++ b/source/RobotAPI/components/units/SpeechObserver.h
@@ -1,6 +1,6 @@
/*
* This file is part of ArmarX.
- *
+ *
* Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
* Karlsruhe Institute of Technology (KIT), all rights reserved.
*
@@ -41,8 +41,8 @@ namespace armarx
};
class SpeechObserver :
- virtual public Observer,
- virtual public SpeechObserverInterface
+ virtual public Observer,
+ virtual public SpeechObserverInterface
{
public:
SpeechObserver();
diff --git a/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorker.h b/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorker.h
index 322ab5a3ff026dacc78e4aa3d5116ab1b9deeebc..f4b84d716b238e30127d9253e5ab13b93147b834 100644
--- a/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorker.h
+++ b/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorker.h
@@ -25,27 +25,27 @@ public:
private:
void cleanup();
protected:
- void timerEvent(QTimerEvent *event) override;
+ void timerEvent(QTimerEvent* event) override;
signals:
- void resultReady(const QString &s);
+ void resultReady(const QString& s);
private slots:
//dev discover
- void deviceDiscovered(const QBluetoothDeviceInfo &device);
+ void deviceDiscovered(const QBluetoothDeviceInfo& device);
void deviceDiscoverFinished();
void deviceDiscoverError(QBluetoothDeviceDiscoveryAgent::Error);
void deviceConnected();
void deviceDisconnected();
//service discovery
- void serviceDiscovered(const QBluetoothUuid &gatt);
+ void serviceDiscovered(const QBluetoothUuid& gatt);
void serviceDiscoverFinished();
void controllerError(QLowEnergyController::Error error);
//communication
- void receiveDeviceDisconnec(const QLowEnergyDescriptor &d, const QByteArray &value);
+ void receiveDeviceDisconnec(const QLowEnergyDescriptor& d, const QByteArray& value);
void serviceStateChanged(QLowEnergyService::ServiceState s);
- void readData(const QLowEnergyCharacteristic &c,const QByteArray &value);
+ void readData(const QLowEnergyCharacteristic& c, const QByteArray& value);
private:
-// friend class BLEProthesisInterface;
+ // friend class BLEProthesisInterface;
BLEProthesisInterface* _owner;
QString _mac;
diff --git a/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorkerThread.cpp b/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorkerThread.cpp
index 5f665d077a212deb1b0093a83bec4f9592a9820b..479693f30aede765e634126350178143d078c87a 100644
--- a/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorkerThread.cpp
+++ b/source/RobotAPI/drivers/KITProstheticHandDriver/BLEProthesisInterfaceQtWorkerThread.cpp
@@ -1,7 +1,7 @@
#include "BLEProthesisInterfaceQtWorkerThread.h"
-BLEProthesisInterfaceQtWorkerThread::BLEProthesisInterfaceQtWorkerThread(const std::string &mac, BLEProthesisInterface &owner) :
+BLEProthesisInterfaceQtWorkerThread::BLEProthesisInterfaceQtWorkerThread(const std::string& mac, BLEProthesisInterface& owner) :
_owner{&owner},
_mac{QString::fromStdString(mac)}
{}
@@ -14,7 +14,7 @@ void BLEProthesisInterfaceQtWorkerThread::kill()
_worker->kill();
}
-void BLEProthesisInterfaceQtWorkerThread::sendCommand(const std::string &cmd)
+void BLEProthesisInterfaceQtWorkerThread::sendCommand(const std::string& cmd)
{
_worker->sendCommand(cmd);
}
@@ -24,7 +24,7 @@ void BLEProthesisInterfaceQtWorkerThread::run()
_worker = new BLEProthesisInterfaceQtWorker{_mac, *_owner};
qDebug() << '[' << _mac << ']' << " Starting qt event loop.";
int r = exec();
- if(_worker)
+ if (_worker)
{
_worker->kill();
delete _worker;
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
index dad5a4d22fcd49b272231fdf3f9ba56e20327725..2ae55ba257f5e88c426d715ad74e342b7e0763a3 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
@@ -34,7 +34,7 @@ namespace armarx
class DeviceContainer
{
public:
- size_t load(const MultiNodeRapidXMLReader &rootNodeConfigs, const VirtualRobot::RobotPtr& robot);
+ size_t load(const MultiNodeRapidXMLReader& rootNodeConfigs, const VirtualRobot::RobotPtr& robot);
template <typename Type>
std::vector<std::shared_ptr<Type>> getDevicesOfType() const
{
@@ -42,7 +42,7 @@ namespace armarx
for (auto& dev : devices)
{
auto castedDev = std::dynamic_pointer_cast<Type>(dev);
- if(castedDev)
+ if (castedDev)
{
results.push_back(castedDev);
}
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/VirtualDeviceFactory.h b/source/RobotAPI/libraries/ArmarXEtherCAT/VirtualDeviceFactory.h
index 75557cf935fde120f894522a4de0e8f988e5c253..72b7738fa5a0890712b8dbcdfa70f11179718ed4 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/VirtualDeviceFactory.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/VirtualDeviceFactory.h
@@ -36,7 +36,7 @@ namespace armarx
{
using AbstractFunctionalDevicePtr = std::shared_ptr<class AbstractFunctionalDevice>;
- using VirtualDeviceFactoryArgs = std::tuple<RapidXmlReaderNode, armarx::DefaultRapidXmlReaderNode , VirtualRobot::RobotPtr>;
+ using VirtualDeviceFactoryArgs = std::tuple<RapidXmlReaderNode, armarx::DefaultRapidXmlReaderNode, VirtualRobot::RobotPtr>;
class VirtualDeviceFactory :
public AbstractFactoryMethod<VirtualDeviceFactory, VirtualDeviceFactoryArgs, AbstractFunctionalDevicePtr>
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
index 4061852d7a292f75866732b865fb1fd9d6a47567..6be767cbd80f870ff1ba98fef2546fc29215a997 100644
--- a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
@@ -53,7 +53,7 @@ void DetectForceSpike::run()
in.getTriggerInAxisDirection();
in.getTriggerCounterAxisDirection();
- std::deque<float> spikes(in.getWindowSizeMs()/10, getForceAlongAxis());
+ std::deque<float> spikes(in.getWindowSizeMs() / 10, getForceAlongAxis());
while (!isRunningTaskStopped()) // stop run function if returning true
{
@@ -68,15 +68,15 @@ void DetectForceSpike::run()
bool f2rDetected = false;
bool r2fDetected = false;
- for(const float spike : spikes)
+ for (const float spike : spikes)
{
- if(low)
+ if (low)
{
- if(spike < refValue)
+ if (spike < refValue)
{
refValue = spike;
}
- else if(spike > refValue + forceThreshold)
+ else if (spike > refValue + forceThreshold)
{
low = false;
risingEdgeDetected = true;
@@ -84,13 +84,13 @@ void DetectForceSpike::run()
}
}
- if(!low)
+ if (!low)
{
- if(spike > refValue)
+ if (spike > refValue)
{
refValue = spike;
}
- else if(spike < refValue - forceThreshold)
+ else if (spike < refValue - forceThreshold)
{
low = true;
fallingEdgeDetected = true;
diff --git a/source/RobotAPI/statecharts/SpeechObserverTestGroup/TestTextToSpeech.cpp b/source/RobotAPI/statecharts/SpeechObserverTestGroup/TestTextToSpeech.cpp
index 56dcb329b28f688d48241ef3675d6458ebf2f42b..ab3e967a68208303b964cdb583566a15aeffbe0e 100644
--- a/source/RobotAPI/statecharts/SpeechObserverTestGroup/TestTextToSpeech.cpp
+++ b/source/RobotAPI/statecharts/SpeechObserverTestGroup/TestTextToSpeech.cpp
@@ -42,9 +42,9 @@ void TestTextToSpeech::onEnter()
void TestTextToSpeech::waitForSpeechFinished()
{
TimeUtil::SleepMS(20);
- while(true)
+ while (true)
{
- if(getSpeechObserver()->getDatafieldByName("TextToSpeech", "State")->getString() == "FinishedSpeaking")
+ if (getSpeechObserver()->getDatafieldByName("TextToSpeech", "State")->getString() == "FinishedSpeaking")
{
break;
}
@@ -60,7 +60,7 @@ void TestTextToSpeech::run()
getTextToSpeech()->reportText("Goodbye!");
-// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
+ // uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
while (!isRunningTaskStopped()) // stop run function if returning true
{
// do your calculations