Obbart/universal_robots_ros_driver
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Added clang formatting

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This commit is contained in:
Simon Rasmussen
2017-02-16 02:03:40 +01:00
parent e00cfac0ee
commit a78d3eadf3
46 changed files with 4476 additions and 4212 deletions
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32
src/ros/rt_publisher.cpp
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@@ -1,17 +1,18 @@
#include "ur_modern_driver/ros/rt_publisher.h"
bool RTPublisher::publish_joints(RTShared &packet, ros::Time &t) {
sensor_msgs::JointState joint_msg;
bool RTPublisher::publish_joints(RTShared& packet, ros::Time& t)
{
sensor_msgs::JointState joint_msg;
joint_msg.header.stamp = t;
joint_msg.name = _joint_names;
for(auto const& q : packet.q_actual) {
for (auto const& q : packet.q_actual) {
joint_msg.position.push_back(q);
}
for(auto const& qd : packet.qd_actual) {
for (auto const& qd : packet.qd_actual) {
joint_msg.velocity.push_back(qd);
}
for(auto const& i : packet.i_actual) {
for (auto const& i : packet.i_actual) {
joint_msg.effort.push_back(i);
}
@@ -20,7 +21,8 @@ bool RTPublisher::publish_joints(RTShared &packet, ros::Time &t) {
return true;
}
bool RTPublisher::publish_wrench(RTShared &packet, ros::Time &t) {
bool RTPublisher::publish_wrench(RTShared& packet, ros::Time& t)
{
geometry_msgs::WrenchStamped wrench_msg;
wrench_msg.header.stamp = t;
@@ -36,7 +38,8 @@ bool RTPublisher::publish_wrench(RTShared &packet, ros::Time &t) {
return true;
}
bool RTPublisher::publish_tool(RTShared &packet, ros::Time &t) {
bool RTPublisher::publish_tool(RTShared& packet, ros::Time& t)
{
geometry_msgs::TwistStamped tool_twist;
tool_twist.header.stamp = t;
@@ -55,20 +58,25 @@ bool RTPublisher::publish_tool(RTShared &packet, ros::Time &t) {
return true;
}
bool RTPublisher::publish(RTShared &packet) {
bool RTPublisher::publish(RTShared& packet)
{
ros::Time time = ros::Time::now();
return publish_joints(packet, time) && publish_wrench(packet, time) && publish_tool(packet, time);
}
bool RTPublisher::consume(RTState_V1_6__7 &state) {
bool RTPublisher::consume(RTState_V1_6__7& state)
{
return publish(state);
}
bool RTPublisher::consume(RTState_V1_8 &state) {
bool RTPublisher::consume(RTState_V1_8& state)
{
return publish(state);
}
bool RTPublisher::consume(RTState_V3_0__1 &state) {
bool RTPublisher::consume(RTState_V3_0__1& state)
{
return publish(state);
}
bool RTPublisher::consume(RTState_V3_2__3 &state) {
bool RTPublisher::consume(RTState_V3_2__3& state)
{
return publish(state);
}