Minor formatting changes

ros-industrial · Jan 5, 2024 · ee2cba1 · ee2cba1
1 parent 23a0129
commit ee2cba1
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Showing 4 changed files with 27 additions and 22 deletions.
diff --git a/noether_gui/src/plugins.cpp b/noether_gui/src/plugins.cpp
@@ -47,8 +47,7 @@ struct WidgetPluginImpl : WidgetPlugin<BaseT>
   }
 };
 // Tool Path Planners
-using FlatPlaneToolPathPlannerWidgetPlugin =
-    WidgetPluginImpl<FlatPlaneToolPathPlannerWidget, ToolPathPlannerWidget>;
+using FlatPlaneToolPathPlannerWidgetPlugin = WidgetPluginImpl<FlatPlaneToolPathPlannerWidget, ToolPathPlannerWidget>;
 
 // Direction Generators
 using FixedDirectionGeneratorWidgetPlugin =

diff --git a/noether_gui/src/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.cpp b/noether_gui/src/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.cpp
@@ -8,7 +8,6 @@
 #include "ui_vector2d_editor_widget.h"
 #include "ui_isometry3d_editor_widget.h"
 
-
 static const std::string ORIGIN_PX_KEY = "px";
 static const std::string ORIGIN_PY_KEY = "py";
 static const std::string ORIGIN_PZ_KEY = "pz";
@@ -22,12 +21,13 @@ static const std::string PLANE_Y_DIM_KEY = "plane_y_dim";
 static const std::string X_SPACING_KEY = "x_spacing";
 static const std::string Y_SPACING_KEY = "y_spacing";
 
-
 namespace noether
 {
 FlatPlaneToolPathPlannerWidget::FlatPlaneToolPathPlannerWidget(QWidget* parent)
-  : ToolPathPlannerWidget(parent), origin_ui_(new Ui::Isometry3dEditor()),
-    plane_dim_ui_(new Ui::Vector2dEditor()), spacing_dim_ui_(new Ui::Vector2dEditor())
+  : ToolPathPlannerWidget(parent)
+  , origin_ui_(new Ui::Isometry3dEditor())
+  , plane_dim_ui_(new Ui::Vector2dEditor())
+  , spacing_dim_ui_(new Ui::Vector2dEditor())
 {
   // Create a vertical layout for the entire widget
   auto mainLayout = new QVBoxLayout(this);
@@ -74,22 +74,24 @@ ToolPathPlanner::ConstPtr FlatPlaneToolPathPlannerWidget::create() const
 {
   Eigen::Isometry3d origin = Eigen::Isometry3d::Identity();
   // Create a quaternion from roll, pitch, yaw
-  Eigen::Quaterniond q(origin_ui_->double_spin_box_qw->value(), origin_ui_->double_spin_box_qx->value(), origin_ui_->double_spin_box_qy->value(), origin_ui_->double_spin_box_qz->value());
+  Eigen::Quaterniond q(origin_ui_->double_spin_box_qw->value(),
+                       origin_ui_->double_spin_box_qx->value(),
+                       origin_ui_->double_spin_box_qy->value(),
+                       origin_ui_->double_spin_box_qz->value());
 
   // Set the translation
-  origin.translation() = Eigen::Vector3d(origin_ui_->double_spin_box_px->value(), origin_ui_->double_spin_box_py->value(), origin_ui_->double_spin_box_pz->value());
+  origin.translation() = Eigen::Vector3d(origin_ui_->double_spin_box_px->value(),
+                                         origin_ui_->double_spin_box_py->value(),
+                                         origin_ui_->double_spin_box_pz->value());
 
   // Set the rotation
   origin.rotate(q);
 
-  Eigen::Vector2d plane_dim (
-        plane_dim_ui_->double_spin_box_x->value(), plane_dim_ui_->double_spin_box_y->value());
-  Eigen::Vector2d spacing (
-        spacing_dim_ui_->double_spin_box_x->value(), spacing_dim_ui_->double_spin_box_y->value());
+  Eigen::Vector2d plane_dim(plane_dim_ui_->double_spin_box_x->value(), plane_dim_ui_->double_spin_box_y->value());
+  Eigen::Vector2d spacing(spacing_dim_ui_->double_spin_box_x->value(), spacing_dim_ui_->double_spin_box_y->value());
   return std::make_unique<FlatPlaneToolPathPlanner>(plane_dim, spacing, origin);
 }
 
-
 void FlatPlaneToolPathPlannerWidget::configure(const YAML::Node& config)
 {
   origin_ui_->double_spin_box_px->setValue(getEntry<double>(config, ORIGIN_PX_KEY));
@@ -124,7 +126,6 @@ void FlatPlaneToolPathPlannerWidget::save(YAML::Node& config) const
 
   config[X_SPACING_KEY] = spacing_dim_ui_->double_spin_box_x->value();
   config[Y_SPACING_KEY] = spacing_dim_ui_->double_spin_box_y->value();
-
 }
 
 }  // namespace noether
diff --git a/noether_tpp/include/noether_tpp/tool_path_planners/flat_plane_toolpath_planner.h b/noether_tpp/include/noether_tpp/tool_path_planners/flat_plane_toolpath_planner.h
@@ -29,7 +29,9 @@ namespace noether
 class FlatPlaneToolPathPlanner : public ToolPathPlanner
 {
 public:
-  FlatPlaneToolPathPlanner(const Eigen::Vector2d& plane_dims, const Eigen::Vector2d& point_spacing,  Eigen::Isometry3d offset = Eigen::Isometry3d::Identity());
+  FlatPlaneToolPathPlanner(const Eigen::Vector2d& plane_dims,
+                           const Eigen::Vector2d& point_spacing,
+                           Eigen::Isometry3d offset = Eigen::Isometry3d::Identity());
   ToolPaths plan(const pcl::PolygonMesh& mesh) const override final;
 
 private:

diff --git a/noether_tpp/src/tool_path_planners/flat_plane_toolpath_planner.cpp b/noether_tpp/src/tool_path_planners/flat_plane_toolpath_planner.cpp
@@ -4,7 +4,9 @@
 
 namespace noether
 {
-FlatPlaneToolPathPlanner::FlatPlaneToolPathPlanner(const Eigen::Vector2d& plane_dims, const Eigen::Vector2d& point_spacing,  Eigen::Isometry3d offset)
+FlatPlaneToolPathPlanner::FlatPlaneToolPathPlanner(const Eigen::Vector2d& plane_dims,
+                                                   const Eigen::Vector2d& point_spacing,
+                                                   Eigen::Isometry3d offset)
   : plane_dims_(plane_dims), point_spacing_(point_spacing), offset_(offset)
 {
 }
@@ -15,24 +17,25 @@ ToolPaths FlatPlaneToolPathPlanner::plan(const pcl::PolygonMesh& /*mesh*/) const
   ToolPaths tool_paths;
 
   Eigen::Isometry3d eigen_pose = offset_;
-  for(size_t i = 0; plane_dims_[0] - point_spacing_[0]*i >= 0; i++)
+  for (size_t i = 0; plane_dims_[0] - point_spacing_[0] * i >= 0; i++)
   {
-    for(size_t j = 0; plane_dims_[1] - point_spacing_[1]*j >= 0; j++)
+    for (size_t j = 0; plane_dims_[1] - point_spacing_[1] * j >= 0; j++)
     {
-      Eigen::Isometry3d pt = eigen_pose * Eigen::Translation3d(i*point_spacing_[0],j*point_spacing_[1], 0.0);
+      Eigen::Isometry3d pt = eigen_pose * Eigen::Translation3d(i * point_spacing_[0], j * point_spacing_[1], 0.0);
       segment.push_back(pt);
     }
-    if (i % 2 != 0) {
+    if (i % 2 != 0)
+    {
       std::reverse(segment.begin(), segment.end());
       tool_path.push_back(segment);
     }
-    else{
+    else
+    {
       tool_path.push_back(segment);
     }
     segment.clear();
   }
   tool_paths.push_back(tool_path);
   return tool_paths;
-
 }
 }  // namespace noether