Added clang formatting

include/ur_modern_driver/ur_driver.h

@@ -19,83 +19,81 @@
 #ifndef UR_DRIVER_H_
 #define UR_DRIVER_H_
 
-#include <mutex>
-#include <condition_variable>
-#include "ur_realtime_communication.h"
-#include "ur_communication.h"
 #include "do_output.h"
-#include <vector>
+#include "ur_communication.h"
+#include "ur_realtime_communication.h"
+#include <condition_variable>
 #include <math.h>
-#include <string>
-#include <sys/types.h>
-#include <sys/socket.h>
+#include <mutex>
 #include <netinet/in.h>
+#include <string>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <vector>
 
 #include <chrono>
 
-
 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);
-
-	void setMinPayload(double m);
-	void setMaxPayload(double m);
-	void setServojTime(double t);
-	void setServojLookahead(double t);
-	void setServojGain(double g);
+    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);
 };
 
 #endif /* UR_DRIVER_H_ */