Adopted roscpp code style and naming convention

include/ur_modern_driver/ur_driver.h

@@ -19,81 +19,79 @@
 #ifndef UR_DRIVER_H_
 #define UR_DRIVER_H_
 
+#include <math.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <condition_variable>
+#include <mutex>
+#include <string>
+#include <vector>
 #include "do_output.h"
 #include "ur_communication.h"
 #include "ur_realtime_communication.h"
-#include <condition_variable>
-#include <math.h>
-#include <mutex>
-#include <netinet/in.h>
-#include <string>
-#include <sys/socket.h>
-#include <sys/types.h>
-#include <vector>
 
 #include <chrono>
 
-class UrDriver {
+class UrDriver
+{
 private:
-    double maximum_time_step_;
-    double minimum_payload_;
-    double maximum_payload_;
-    std::vector<std::string> joint_names_;
-    std::string ip_addr_;
-    const int MULT_JOINTSTATE_ = 1000000;
-    const int MULT_TIME_ = 1000000;
-    const unsigned int REVERSE_PORT_;
-    int incoming_sockfd_;
-    int new_sockfd_;
-    bool reverse_connected_;
-    double servoj_time_;
-    bool executing_traj_;
-    double firmware_version_;
-    double servoj_lookahead_time_;
-    double servoj_gain_;
+  double maximum_time_step_;
+  double minimum_payload_;
+  double maximum_payload_;
+  std::vector<std::string> joint_names_;
+  std::string ip_addr_;
+  const int MULT_JOINTSTATE_ = 1000000;
+  const int MULT_TIME_ = 1000000;
+  const unsigned int REVERSE_PORT_;
+  int incoming_sockfd_;
+  int new_sockfd_;
+  bool reverse_connected_;
+  double servoj_time_;
+  bool executing_traj_;
+  double firmware_version_;
+  double servoj_lookahead_time_;
+  double servoj_gain_;
 
 public:
-    UrRealtimeCommunication* rt_interface_;
-    UrCommunication* sec_interface_;
+  UrRealtimeCommunication* rt_interface_;
+  UrCommunication* sec_interface_;
 
-    UrDriver(std::condition_variable& rt_msg_cond,
-        std::condition_variable& msg_cond, std::string host,
-        unsigned int reverse_port = 50007, double servoj_time = 0.016, unsigned int safety_count_max = 12, double max_time_step = 0.08, double min_payload = 0.,
-        double max_payload = 1., double servoj_lookahead_time = 0.03, double servoj_gain = 300.);
-    bool start();
-    void halt();
+  UrDriver(std::condition_variable& rt_msg_cond, std::condition_variable& msg_cond, std::string host,
+           unsigned int reverse_port = 50007, double servoj_time = 0.016, unsigned int safety_count_max = 12,
+           double max_time_step = 0.08, double min_payload = 0., double max_payload = 1.,
+           double servoj_lookahead_time = 0.03, double servoj_gain = 300.);
+  bool start();
+  void halt();
 
-    void setSpeed(double q0, double q1, double q2, double q3, double q4,
-        double q5, double acc = 100.);
+  void setSpeed(double q0, double q1, double q2, double q3, double q4, double q5, double acc = 100.);
 
-    bool doTraj(std::vector<double> inp_timestamps,
-        std::vector<std::vector<double> > inp_positions,
-        std::vector<std::vector<double> > inp_velocities);
-    void servoj(std::vector<double> positions, int keepalive = 1);
+  bool doTraj(std::vector<double> inp_timestamps, std::vector<std::vector<double>> inp_positions,
+              std::vector<std::vector<double>> inp_velocities);
+  void servoj(std::vector<double> positions, int keepalive = 1);
 
-    void stopTraj();
+  void stopTraj();
 
-    bool uploadProg();
-    bool openServo();
-    void closeServo(std::vector<double> positions);
+  bool uploadProg();
+  bool openServo();
+  void closeServo(std::vector<double> positions);
 
-    std::vector<double> interp_cubic(double t, double T,
-        std::vector<double> p0_pos, std::vector<double> p1_pos,
-        std::vector<double> p0_vel, std::vector<double> p1_vel);
+  std::vector<double> interp_cubic(double t, double T, std::vector<double> p0_pos, std::vector<double> p1_pos,
+                                   std::vector<double> p0_vel, std::vector<double> p1_vel);
 
-    std::vector<std::string> getJointNames();
-    void setJointNames(std::vector<std::string> jn);
-    void setToolVoltage(unsigned int v);
-    void setFlag(unsigned int n, bool b);
-    void setDigitalOut(unsigned int n, bool b);
-    void setAnalogOut(unsigned int n, double f);
-    bool setPayload(double m);
+  std::vector<std::string> getJointNames();
+  void setJointNames(std::vector<std::string> jn);
+  void setToolVoltage(unsigned int v);
+  void setFlag(unsigned int n, bool b);
+  void setDigitalOut(unsigned int n, bool b);
+  void setAnalogOut(unsigned int n, double f);
+  bool setPayload(double m);
 
-    void setMinPayload(double m);
-    void setMaxPayload(double m);
-    void setServojTime(double t);
-    void setServojLookahead(double t);
-    void setServojGain(double g);
+  void setMinPayload(double m);
+  void setMaxPayload(double m);
+  void setServojTime(double t);
+  void setServojLookahead(double t);
+  void setServojGain(double g);
 };
 
 #endif /* UR_DRIVER_H_ */