Reformat legged_common and legged_hw

tony-hj · Dec 18, 2022 · 6254729 · 6254729
1 parent c0a606d
commit 6254729
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Showing 15 changed files with 256 additions and 413 deletions.
diff --git a/.clang-format b/.clang-format
diff --git a/.clang-tidy b/.clang-tidy
diff --git a/legged_common/CMakeLists.txt b/legged_common/CMakeLists.txt
@@ -1,13 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 project(legged_common)
 
-## Use C++14
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
-## enforcing cleaner code.
-add_definitions(-Wall -Werror -Wno-enum-compare)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 find_package(catkin REQUIRED
         COMPONENTS
@@ -30,12 +24,24 @@ include_directories(
         ${catkin_INCLUDE_DIRS}
 )
 
-file(GLOB_RECURSE sources "src/*.cpp")
-
 add_library(${PROJECT_NAME} INTERFACE)
 
 target_include_directories(${PROJECT_NAME} INTERFACE include)
 
+#########################
+###   CLANG TOOLING   ###
+#########################
+find_package(cmake_clang_tools QUIET)
+if (cmake_clang_tools_FOUND)
+    message(STATUS "Run clang tooling for target " ${PROJECT_NAME})
+    add_clang_tooling(
+            TARGETS ${PROJECT_NAME}
+            SOURCE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src ${CMAKE_CURRENT_SOURCE_DIR}/include
+            CT_HEADER_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
+            CF_WERROR
+    )
+endif (cmake_clang_tools_FOUND)
+
 #############
 ## Install ##
 #############

diff --git a/legged_common/include/legged_common/hardware_interface/ContactSensorInterface.h b/legged_common/include/legged_common/hardware_interface/ContactSensorInterface.h
@@ -0,0 +1,35 @@
+//
+// Created by qiayuan on 2021/11/5.
+//
+#pragma once
+#include <hardware_interface/internal/hardware_resource_manager.h>
+#include <hardware_interface/joint_state_interface.h>
+
+namespace legged {
+class ContactSensorHandle {
+ public:
+  ContactSensorHandle() = default;
+
+  ContactSensorHandle(const std::string& name, const bool* is_contact) : name_(name), is_contact_(is_contact) {
+    if (is_contact == nullptr) {
+      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name + "'. is_contact pointer is null.");
+    }
+  }
+
+  std::string getName() const { return name_; }
+
+  bool isContact() const {
+    assert(is_contact_);
+    return *is_contact_;
+  }
+
+ private:
+  std::string name_;
+
+  const bool* is_contact_ = {nullptr};
+};
+
+class ContactSensorInterface
+    : public hardware_interface::HardwareResourceManager<ContactSensorHandle, hardware_interface::DontClaimResources> {};
+
+}  // namespace legged
diff --git a/...rdware_interface/hybrid_joint_interface.h → ...hardware_interface/HybridJointInterface.h b/...rdware_interface/hybrid_joint_interface.h → ...hardware_interface/HybridJointInterface.h
@@ -5,112 +5,88 @@
 #include <hardware_interface/internal/hardware_resource_manager.h>
 #include <hardware_interface/joint_state_interface.h>
 
-namespace legged
-{
-class HybridJointHandle : public hardware_interface::JointStateHandle
-{
-public:
+namespace legged {
+class HybridJointHandle : public hardware_interface::JointStateHandle {
+ public:
   HybridJointHandle() = default;
 
   HybridJointHandle(const JointStateHandle& js, double* pos_des, double* vel_des, double* kp, double* kd, double* ff)
-    : JointStateHandle(js), pos_des_(pos_des), vel_des_(vel_des), kp_(kp), kd_(kd), ff_(ff)
-  {
-    if (!pos_des_)
-    {
+      : JointStateHandle(js), pos_des_(pos_des), vel_des_(vel_des), kp_(kp), kd_(kd), ff_(ff) {
+    if (pos_des_ == nullptr) {
       throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() +
                                                            "'. Position desired data pointer is null.");
     }
-    if (!vel_des_)
-    {
+    if (vel_des_ == nullptr) {
       throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() +
                                                            "'. Velocity desired data pointer is null.");
     }
-    if (!kp_)
-    {
-      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() +
-                                                           "'. Kp data pointer is null.");
+    if (kp_ == nullptr) {
+      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Kp data pointer is null.");
     }
-    if (!kd_)
-    {
-      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() +
-                                                           "'. Kd data pointer is null.");
+    if (kd_ == nullptr) {
+      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Kd data pointer is null.");
     }
-    if (!ff_)
-    {
+    if (ff_ == nullptr) {
       throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() +
                                                            "'. Feedforward data pointer is null.");
     }
   }
-  void setPositionDesired(double cmd)
-  {
+  void setPositionDesired(double cmd) {
     assert(pos_des_);
     *pos_des_ = cmd;
   }
-  void setVelocityDesired(double cmd)
-  {
+  void setVelocityDesired(double cmd) {
     assert(vel_des_);
     *vel_des_ = cmd;
   }
-  void setKp(double cmd)
-  {
+  void setKp(double cmd) {
     assert(kp_);
     *kp_ = cmd;
   }
-  void setKd(double cmd)
-  {
+  void setKd(double cmd) {
     assert(kd_);
     *kd_ = cmd;
   }
-  void setFeedforward(double cmd)
-  {
+  void setFeedforward(double cmd) {
     assert(ff_);
     *ff_ = cmd;
   }
-  void setCommand(double pos_des, double vel_des, double kp, double kd, double ff)
-  {
+  void setCommand(double pos_des, double vel_des, double kp, double kd, double ff) {
     setPositionDesired(pos_des);
     setVelocityDesired(vel_des);
     setKp(kp);
     setKd(kd);
     setFeedforward(ff);
   }
-  double getPositionDesired()
-  {
+  double getPositionDesired() {
     assert(pos_des_);
     return *pos_des_;
   }
-  double getVelocityDesired()
-  {
+  double getVelocityDesired() {
     assert(vel_des_);
     return *vel_des_;
   }
-  double getKp()
-  {
+  double getKp() {
     assert(kp_);
     return *kp_;
   }
-  double getKd()
-  {
+  double getKd() {
     assert(kd_);
     return *kd_;
   }
-  double getFeedforward()
-  {
+  double getFeedforward() {
     assert(ff_);
     return *ff_;
   }
 
-private:
-  double* pos_des_ = { nullptr };
-  double* vel_des_ = { nullptr };
-  double* kp_ = { nullptr };
-  double* kd_ = { nullptr };
-  double* ff_ = { nullptr };
+ private:
+  double* pos_des_ = {nullptr};
+  double* vel_des_ = {nullptr};
+  double* kp_ = {nullptr};
+  double* kd_ = {nullptr};
+  double* ff_ = {nullptr};
 };
 
-class HybridJointInterface
-  : public hardware_interface::HardwareResourceManager<HybridJointHandle, hardware_interface::ClaimResources>
-{
-};
+class HybridJointInterface : public hardware_interface::HardwareResourceManager<HybridJointHandle, hardware_interface::ClaimResources> {};
 
 }  // namespace legged
diff --git a/legged_common/include/legged_common/hardware_interface/contact_sensor_interface.h b/legged_common/include/legged_common/hardware_interface/contact_sensor_interface.h