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Merged
merged 2 commits into from
Oct 14, 2025
Merged

[pre-commit.ci] pre-commit autoupdate #50

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92f5f9f
[pre-commit.ci] pre-commit autoupdate
pre-commit-ci[bot] Oct 6, 2025
6259037
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Oct 6, 2025
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6 changes: 3 additions & 3 deletions .pre-commit-config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v20.1.8
rev: v21.1.2
hooks:
- id: clang-format
args: [--style=Google]
Expand All @@ -24,8 +24,8 @@ repos:
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/psf/black
rev: 25.1.0
- repo: https://github.com/psf/black-pre-commit-mirror
rev: 25.9.0
hooks:
- id: black
- repo: https://github.com/PyCQA/flake8
Expand Down
4 changes: 2 additions & 2 deletions src/sot-pyrene-controller.cpp
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Expand Up @@ -36,13 +36,13 @@ void SoTPyreneController::startupPython() {
}

extern "C" {
dgsot::AbstractSotExternalInterface *createSotExternalInterface() {
dgsot::AbstractSotExternalInterface* createSotExternalInterface() {
return new SoTPyreneController;
}
}

extern "C" {
void destroySotExternalInterface(dgsot::AbstractSotExternalInterface *p) {
void destroySotExternalInterface(dgsot::AbstractSotExternalInterface* p) {
delete p;
}
}
18 changes: 9 additions & 9 deletions src/sot-talos-controller.cpp
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Expand Up @@ -42,7 +42,7 @@ void SoTTalosController::init() {

// rosInit is called here only to initialize ros.
// No spinner is initialized.
ros::NodeHandle &nh = dynamicgraph::rosInit(false, false);
ros::NodeHandle& nh = dynamicgraph::rosInit(false, false);
interpreter_ = boost::shared_ptr<dynamicgraph::Interpreter>(
new dynamicgraph::Interpreter(nh));

Expand All @@ -59,27 +59,27 @@ SoTTalosController::~SoTTalosController() {
}

void SoTTalosController::setupSetSensors(
map<string, dgsot::SensorValues> &SensorsIn) {
map<string, dgsot::SensorValues>& SensorsIn) {
device_->setupSetSensors(SensorsIn);
}

void SoTTalosController::nominalSetSensors(
map<string, dgsot::SensorValues> &SensorsIn) {
map<string, dgsot::SensorValues>& SensorsIn) {
device_->nominalSetSensors(SensorsIn);
}

void SoTTalosController::cleanupSetSensors(
map<string, dgsot::SensorValues> &SensorsIn) {
map<string, dgsot::SensorValues>& SensorsIn) {
device_->cleanupSetSensors(SensorsIn);
}

void SoTTalosController::getControl(
map<string, dgsot::ControlValues> &controlOut) {
map<string, dgsot::ControlValues>& controlOut) {
try {
sotDEBUG(25) << __FILE__ << __FUNCTION__ << "(#" << __LINE__ << ")" << endl;
device_->getControl(controlOut);
sotDEBUG(25) << __FILE__ << __FUNCTION__ << "(#" << __LINE__ << ")" << endl;
} catch (dynamicgraph::sot::ExceptionAbstract &err) {
} catch (dynamicgraph::sot::ExceptionAbstract& err) {
std::cout << __FILE__ << " " << __FUNCTION__ << " (" << __LINE__ << ") "
<< err.getStringMessage() << endl;
throw err;
Expand All @@ -92,9 +92,9 @@ void SoTTalosController::setSecondOrderIntegration(void) {
device_->setSecondOrderIntegration();
}

void SoTTalosController::runPython(std::ostream &file,
const std::string &command,
dynamicgraph::Interpreter &interpreter) {
void SoTTalosController::runPython(std::ostream& file,
const std::string& command,
dynamicgraph::Interpreter& interpreter) {
file << ">>> " << command << std::endl;
std::string lres(""), lout(""), lerr("");
interpreter.runCommand(command, lres, lout, lerr);
Expand Down
16 changes: 8 additions & 8 deletions src/sot-talos-controller.hh
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Expand Up @@ -33,13 +33,13 @@ class SoTTalosController : public dgsot::AbstractSotExternalInterface {
SoTTalosController(std::string robotName);
virtual ~SoTTalosController();

void setupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
void setupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);

void nominalSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
void nominalSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);

void cleanupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
void cleanupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);

void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
void getControl(std::map<std::string, dgsot::ControlValues>& anglesOut);

void setNoIntegration(void);
void setSecondOrderIntegration(void);
Expand All @@ -53,17 +53,17 @@ class SoTTalosController : public dgsot::AbstractSotExternalInterface {
protected:
// Update output port with the control computed from the
// dynamic graph.
void updateRobotState(std::vector<double> &anglesIn);
void updateRobotState(std::vector<double>& anglesIn);

/// Run a python command
void runPython(std::ostream &file, const std::string &command,
dynamicgraph::Interpreter &interpreter);
void runPython(std::ostream& file, const std::string& command,
dynamicgraph::Interpreter& interpreter);

virtual void startupPython();

void init();

SoTTalosDevice *device_;
SoTTalosDevice* device_;
};

#endif /* _SOT_TalosController_H_ */
24 changes: 12 additions & 12 deletions src/sot-talos-device.hh
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Expand Up @@ -35,20 +35,20 @@ class SoTTalosDevice : public dgsot::Device {
static const std::string CLASS_NAME;
static const double TIMESTEP_DEFAULT;

virtual const std::string &getClassName() const { return CLASS_NAME; }
virtual const std::string& getClassName() const { return CLASS_NAME; }

SoTTalosDevice(std::string RobotName);
virtual ~SoTTalosDevice();

void setSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
void setSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);

void setupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
void setupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);

void nominalSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
void nominalSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);

void cleanupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
void cleanupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);

void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
void getControl(std::map<std::string, dgsot::ControlValues>& anglesOut);

void timeStep(double ts) { timestep_ = ts; }

Expand Down Expand Up @@ -76,17 +76,17 @@ class SoTTalosDevice : public dgsot::Device {
dynamicgraph::Signal<dg::Vector, int> d_gainsSOUT_;

/// Protected methods for internal variables filling
void setSensorsForce(std::map<std::string, dgsot::SensorValues> &SensorsIn,
void setSensorsForce(std::map<std::string, dgsot::SensorValues>& SensorsIn,
int t);
void setSensorsIMU(std::map<std::string, dgsot::SensorValues> &SensorsIn,
void setSensorsIMU(std::map<std::string, dgsot::SensorValues>& SensorsIn,
int t);
void setSensorsEncoders(std::map<std::string, dgsot::SensorValues> &SensorsIn,
void setSensorsEncoders(std::map<std::string, dgsot::SensorValues>& SensorsIn,
int t);
void setSensorsVelocities(
std::map<std::string, dgsot::SensorValues> &SensorsIn, int t);
std::map<std::string, dgsot::SensorValues>& SensorsIn, int t);
void setSensorsTorquesCurrents(
std::map<std::string, dgsot::SensorValues> &SensorsIn, int t);
void setSensorsGains(std::map<std::string, dgsot::SensorValues> &SensorsIn,
std::map<std::string, dgsot::SensorValues>& SensorsIn, int t);
void setSensorsGains(std::map<std::string, dgsot::SensorValues>& SensorsIn,
int t);

/// Intermediate variables to avoid allocation during control
Expand Down