Format code

VirtualRobot/EndEffector/EndEffectorActor.cpp

@@ -46,7 +46,7 @@ namespace VirtualRobot
 
         std::vector<ActorDefinition> newDef;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             ActorDefinition a;
             a.colMode = actor.colMode;
@@ -74,7 +74,7 @@ namespace VirtualRobot
         VR_ASSERT(robot);
         bool res = true;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             float v = actor.robotNode->getJointValue() + angle * actor.directionAndSpeed;
 
@@ -111,7 +111,7 @@ namespace VirtualRobot
 
 
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             float oldV =  actor.robotNode->getJointValue();
             float v = oldV + angle * actor.directionAndSpeed;
@@ -135,7 +135,7 @@ namespace VirtualRobot
                 // actors (don't store contacts)
                 if (!collision)
                 {
-                    for (auto & eefActor : eefActors)
+                    for (auto& eefActor : eefActors)
                     {
                         // Don't check for collisions with the actor itself (don't store contacts)
                         if ((eefActor->getName() != name) && isColliding(eefActor))   //isColliding(eef,*a,newContacts) )
@@ -148,7 +148,7 @@ namespace VirtualRobot
                 // static (don't store contacts)
                 if (!collision)
                 {
-                    for (auto & node : eefStatic)
+                    for (auto& node : eefStatic)
                     {
                         SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(node);
 
@@ -173,19 +173,20 @@ namespace VirtualRobot
 
                     actorStatus[actor.robotNode] = eCollision;
                 }
-            } else
+            }
+            else
             {
                 actorStatus[actor.robotNode] = eFinished;
             }
         }
 
         // update contacts
-        for (auto & newContact : newContacts)
+        for (auto& newContact : newContacts)
         {
             // check for double entries (this may happen since we move all actors to the end and may detecting contacts multiple times)
             bool doubleEntry = false;
 
-            for (auto & storeContact : storeContacts)
+            for (auto& storeContact : storeContacts)
             {
                 if (storeContact.robotNode == newContact.robotNode && storeContact.obstacle == newContact.obstacle)
                 {
@@ -218,11 +219,13 @@ namespace VirtualRobot
 
         // check what we should return
         bool res = true;
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             // if at least one actor is not in collision and not at its joint limits, we are still in the process of closing the fingers
             if (actorStatus[actor.robotNode] == eMoving)
+            {
                 res = false;
+            }
         }
 
         return res;
@@ -235,9 +238,9 @@ namespace VirtualRobot
         //Eigen::Vector3f contact;
         bool col = false;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
-            for (auto & colModel : colModels)
+            for (auto& colModel : colModels)
             {
 
                 if ((actor.colMode & checkColMode) &&
@@ -271,7 +274,7 @@ namespace VirtualRobot
 
     bool EndEffectorActor::isColliding(SceneObjectSetPtr obstacles,  CollisionMode checkColMode)
     {
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             if ((actor.colMode & checkColMode) && actor.robotNode->getCollisionModel() && colChecker->checkCollision(actor.robotNode->getCollisionModel(), obstacles))
             {
@@ -289,7 +292,7 @@ namespace VirtualRobot
             return false;
         }
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             if ((actor.colMode & checkColMode) && actor.robotNode->getCollisionModel() && colChecker->checkCollision(actor.robotNode->getCollisionModel(), obstacle->getCollisionModel()))
             {
@@ -302,7 +305,7 @@ namespace VirtualRobot
 
     bool EndEffectorActor::isColliding(EndEffectorActorPtr obstacle)
     {
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(actor.robotNode);
 
@@ -323,7 +326,7 @@ namespace VirtualRobot
         std::vector<RobotNodePtr> obstacleStatics;
         obstacle->getStatics(obstacleStatics);
 
-        for (auto & obstacleActor : obstacleActors)
+        for (auto& obstacleActor : obstacleActors)
         {
             // Don't check for collisions with the actor itself
             if ((obstacleActor->getName() != name) && isColliding(obstacleActor))
@@ -332,7 +335,7 @@ namespace VirtualRobot
             }
         }
 
-        for (auto & obstacleStatic : obstacleStatics)
+        for (auto& obstacleStatic : obstacleStatics)
         {
             SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(obstacleStatic);
 
@@ -353,7 +356,7 @@ namespace VirtualRobot
         std::vector<RobotNodePtr> obstacleStatics;
         obstacle->getStatics(obstacleStatics);
 
-        for (auto & obstacleActor : obstacleActors)
+        for (auto& obstacleActor : obstacleActors)
         {
             // Don't check for collisions with the actor itself
             if ((obstacleActor->getName() != name) && isColliding(eef, obstacleActor, storeContacts))
@@ -362,7 +365,7 @@ namespace VirtualRobot
             }
         }
 
-        for (auto & obstacleStatic : obstacleStatics)
+        for (auto& obstacleStatic : obstacleStatics)
         {
             SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(obstacleStatic);
 
@@ -377,7 +380,7 @@ namespace VirtualRobot
 
     bool EndEffectorActor::isColliding(EndEffectorPtr eef, EndEffectorActorPtr obstacle, EndEffector::ContactInfoVector& storeContacts)
     {
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(actor.robotNode);
 
@@ -401,7 +404,7 @@ namespace VirtualRobot
         //Eigen::Vector3f contact;
         bool col = false;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
 
             if ((actor.colMode & checkColMode) &&
@@ -438,7 +441,7 @@ namespace VirtualRobot
     {
         std::vector< RobotNodePtr > res;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             res.push_back(actor.robotNode);
         }
@@ -451,7 +454,7 @@ namespace VirtualRobot
         cout << " ****" << endl;
         cout << " ** Name:" << name << endl;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             cout << " *** RobotNode: " << actor.robotNode->getName() << ", Direction/Speed:" << actor.directionAndSpeed << endl;
             //actors[i].robotNode->print();
@@ -512,7 +515,7 @@ namespace VirtualRobot
     {
         BoundingBox bb_all;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             if (actor.robotNode->getCollisionModel())
             {
@@ -535,7 +538,7 @@ namespace VirtualRobot
 
         std::vector< RobotConfig::Configuration > c;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             RobotConfig::Configuration e;
             e.name = actor.robotNode->getName();
@@ -562,7 +565,7 @@ namespace VirtualRobot
         std::string ttt = tt + t;
         ss << pre << "<Actor name='" << name << "'>" << endl;
 
-        for (auto & actor : actors)
+        for (auto& actor : actors)
         {
             ss << tt << "<Node name='" << actor.robotNode->getName() << "' ";