Format sources with clang-format

include/ur_modern_driver/pipeline.h

@@ -110,7 +110,6 @@ public:
   }
 };
 
-
 template <typename T>
 class Pipeline
 {
@@ -140,7 +139,7 @@ private:
       {
         if (!queue_.try_enqueue(std::move(p)))
         {
-          LOG_ERROR("Pipeline producer overflowed! <%s>",name_.c_str());
+          LOG_ERROR("Pipeline producer overflowed! <%s>", name_.c_str());
         }
       }
 
@@ -201,7 +200,7 @@ public:
     if (!running_)
       return;
 
-    LOG_DEBUG("Stopping pipeline! <%s>",name_.c_str());
+    LOG_DEBUG("Stopping pipeline! <%s>", name_.c_str());
 
     consumer_.stopConsumer();
     producer_.stopProducer();

include/ur_modern_driver/ros/action_trajectory_follower_interface.h

@@ -28,5 +28,5 @@ public:
   virtual bool start() = 0;
   virtual bool execute(std::vector<TrajectoryPoint> &trajectory, std::atomic<bool> &interrupt) = 0;
   virtual void stop() = 0;
-  virtual ~ActionTrajectoryFollowerInterface() {};
+  virtual ~ActionTrajectoryFollowerInterface(){};
 };

include/ur_modern_driver/ros/lowbandwidth_trajectory_follower.h

@@ -9,11 +9,11 @@
 #include <thread>
 #include <vector>
 #include "ur_modern_driver/log.h"
+#include "ur_modern_driver/ros/action_trajectory_follower_interface.h"
 #include "ur_modern_driver/ur/commander.h"
 #include "ur_modern_driver/ur/server.h"
-#include "ur_modern_driver/ros/action_trajectory_follower_interface.h"
 
-class LowBandwidthTrajectoryFollower:  public ActionTrajectoryFollowerInterface
+class LowBandwidthTrajectoryFollower : public ActionTrajectoryFollowerInterface
 {
 private:
   std::atomic<bool> running_;
@@ -21,14 +21,13 @@ private:
   URCommander &commander_;
   URServer server_;
 
-  double time_interval_, servoj_time_, servoj_time_waiting_, max_waiting_time_, \
-         servoj_gain_, servoj_lookahead_time_, max_joint_difference_;
+  double time_interval_, servoj_time_, servoj_time_waiting_, max_waiting_time_, servoj_gain_, servoj_lookahead_time_,
+      max_joint_difference_;
 
   std::string program_;
 
-  bool execute(const std::array<double, 6> &positions,
-               const std::array<double, 6> &velocities,
-               double sample_number, double time_in_seconds);
+  bool execute(const std::array<double, 6> &positions, const std::array<double, 6> &velocities, double sample_number,
+               double time_in_seconds);
 
 public:
   LowBandwidthTrajectoryFollower(URCommander &commander, std::string &reverse_ip, int reverse_port, bool version_3);
@@ -37,5 +36,5 @@ public:
   bool execute(std::vector<TrajectoryPoint> &trajectory, std::atomic<bool> &interrupt);
   void stop();
 
-  virtual ~LowBandwidthTrajectoryFollower() {};
+  virtual ~LowBandwidthTrajectoryFollower(){};
 };

include/ur_modern_driver/ros/mb_publisher.h

@@ -35,8 +35,9 @@ private:
   void publishRobotStatus(const RobotModeData_V3_0__1& data) const;
 
 public:
-  MBPublisher() : io_pub_(nh_.advertise<ur_msgs::IOStates>("ur_driver/io_states", 1))
-                , status_pub_(nh_.advertise<industrial_msgs::RobotStatus>("ur_driver/robot_status", 1))
+  MBPublisher()
+    : io_pub_(nh_.advertise<ur_msgs::IOStates>("ur_driver/io_states", 1))
+    , status_pub_(nh_.advertise<industrial_msgs::RobotStatus>("ur_driver/robot_status", 1))
   {
   }
 

include/ur_modern_driver/ros/trajectory_follower.h

@@ -9,9 +9,9 @@
 #include <thread>
 #include <vector>
 #include "ur_modern_driver/log.h"
+#include "ur_modern_driver/ros/action_trajectory_follower_interface.h"
 #include "ur_modern_driver/ur/commander.h"
 #include "ur_modern_driver/ur/server.h"
-#include "ur_modern_driver/ros/action_trajectory_follower_interface.h"
 
 class TrajectoryFollower : public ActionTrajectoryFollowerInterface
 {
@@ -43,5 +43,5 @@ public:
   bool execute(std::vector<TrajectoryPoint> &trajectory, std::atomic<bool> &interrupt);
   void stop();
 
-  virtual ~TrajectoryFollower() {};
+  virtual ~TrajectoryFollower(){};
 };

include/ur_modern_driver/ros/urscript_handler.h

@@ -8,10 +8,9 @@
 #include "ur_modern_driver/ros/service_stopper.h"
 #include "ur_modern_driver/ur/commander.h"
 
-class URScriptHandler: public Service
+class URScriptHandler : public Service
 {
 private:
-
   ros::NodeHandle nh_;
   URCommander &commander_;
   ros::Subscriber urscript_sub_;
@@ -19,6 +18,6 @@ private:
 
 public:
   URScriptHandler(URCommander &commander);
-  void urscriptInterface(const std_msgs::String::ConstPtr& msg);
+  void urscriptInterface(const std_msgs::String::ConstPtr &msg);
   void onRobotStateChange(RobotState state);
 };

include/ur_modern_driver/test/random_data.h

@@ -1,11 +1,11 @@
 #pragma once
 #include <inttypes.h>
 #include <algorithm>
+#include <bitset>
 #include <climits>
 #include <cstddef>
 #include <functional>
 #include <random>
-#include <bitset>
 #include "ur_modern_driver/bin_parser.h"
 
 class RandomDataTest
@@ -52,7 +52,7 @@ public:
   template <typename T>
   void set(T data, size_t pos)
   {
-    std::memcpy(&data, buf_+pos, sizeof(T));
+    std::memcpy(&data, buf_ + pos, sizeof(T));
   }
 
   void skip(size_t n)

include/ur_modern_driver/ur/server.h

@@ -26,6 +26,6 @@ public:
   bool bind();
   bool accept();
   void disconnectClient();
-  bool readLine(char* buffer, size_t buf_len);
+  bool readLine(char *buffer, size_t buf_len);
   bool write(const uint8_t *buf, size_t buf_len, size_t &written);
 };