From aefd00d44c2c1900397989fd9fafd4de14f4322a Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Fri, 4 Aug 2023 22:23:19 +0200 Subject: [PATCH] Lint --- .../include/admittance_controller/admittance_rule.hpp | 2 +- admittance_controller/test/test_admittance_controller.cpp | 4 ++-- admittance_controller/test/test_admittance_controller.hpp | 6 +++--- admittance_controller/test/test_params.yaml | 6 +++--- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp index 627831fd28..2e67962883 100644 --- a/admittance_controller/include/admittance_controller/admittance_rule.hpp +++ b/admittance_controller/include/admittance_controller/admittance_rule.hpp @@ -168,7 +168,7 @@ class AdmittanceRule * Calculates the admittance rule from given the robot's current joint angles. The admittance * controller state input is updated with the new calculated values. A boolean value is returned * indicating if any of the kinematics plugin calls failed. - * \param[in] admittance_state contains all the information needed to calculate + * \param[in] admittance_state contains all the information needed to calculate * the admittance offset * \param[in] dt controller period * \param[out] success true if no calls to the kinematics interface fail diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp index 9fb8076cf8..13a390b8f8 100644 --- a/admittance_controller/test/test_admittance_controller.cpp +++ b/admittance_controller/test/test_admittance_controller.cpp @@ -247,7 +247,7 @@ TEST_F(AdmittanceControllerTest, publish_status_success) EXPECT_NEAR(msg.wrench_base.wrench.force.x, 0.0, 0.03); EXPECT_NEAR(msg.wrench_base.wrench.force.y, 0.0, 0.03); EXPECT_NEAR(msg.wrench_base.wrench.force.z, 23.0, 0.03); - EXPECT_NEAR(msg.wrench_base.wrench.torque.x, 0.1*23, 0.03); + EXPECT_NEAR(msg.wrench_base.wrench.torque.x, 0.1 * 23, 0.03); EXPECT_NEAR(msg.wrench_base.wrench.torque.y, 0.0, 0.03); EXPECT_NEAR(msg.wrench_base.wrench.torque.z, 0.0, 0.03); @@ -268,7 +268,7 @@ TEST_F(AdmittanceControllerTest, compensation_success) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); // set the force on the force torque sensor to simulate gravity pulling - fts_state_values_ = {0.0, 0.0, -23.0, -0.1*23, 0, 0.0}; + fts_state_values_ = {0.0, 0.0, -23.0, -0.1 * 23, 0, 0.0}; broadcast_tfs(); ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp index 68a0a47063..322781a993 100644 --- a/admittance_controller/test/test_admittance_controller.hpp +++ b/admittance_controller/test/test_admittance_controller.hpp @@ -253,7 +253,7 @@ class AdmittanceControllerTest : public ::testing::Test transform_stamped.transform.rotation.y = 0; transform_stamped.transform.rotation.z = 0; transform_stamped.transform.rotation.w = 1; - + transform_stamped.child_frame_id = ik_tip_frame_; // world to kinematic tip frame br.sendTransform(transform_stamped); @@ -290,8 +290,8 @@ class AdmittanceControllerTest : public ::testing::Test auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; std::string topic = controller_->get_node()->get_name(); topic += "/status"; - auto subscription = test_subscription_node_->create_subscription( - topic, 10, subs_callback); + auto subscription = + test_subscription_node_->create_subscription(topic, 10, subs_callback); // call update to publish the test value ASSERT_EQ( diff --git a/admittance_controller/test/test_params.yaml b/admittance_controller/test/test_params.yaml index b83821282c..0d67cb0636 100644 --- a/admittance_controller/test/test_params.yaml +++ b/admittance_controller/test/test_params.yaml @@ -70,7 +70,7 @@ test_admittance_controller: name: "gravity_compensation" params: world_frame: "fixed_world_frame" - sensor_frame: "ft_mount" + sensor_frame: "ft_mount" CoG: pos: [0.0, 0.1, 0.0] # in sensor_frame force: [0.0, 0.0, -23.0] # -gravity_acc * mass in world_frame @@ -168,7 +168,7 @@ test_admittance_controller_no_mass: name: "gravity_compensation" params: world_frame: "fixed_world_frame" - sensor_frame: "ft_mount" + sensor_frame: "ft_mount" CoG: pos: [0.0, 0.0, 0.0] # in sensor_frame force: [0.0, 0.0, 0.0] # -gravity_acc * mass in world_frame @@ -211,4 +211,4 @@ test_admittance_controller_no_mass: - 214.3 - 214.4 - 214.5 - - 214.6 \ No newline at end of file + - 214.6