Merge branch 'master' into feature/syropod_manipulation

Author: fctalbot

include/syropod_highlevel_controller/admittance_controller.h

@@ -70,4 +70,4 @@ class AdmittanceController
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-#endif // SYROPOD_HIGHLEVEL_CONTROLLER_ADMITTANCE_CONTROLLER_H
+#endif // SYROPOD_HIGHLEVEL_CONTROLLER_ADMITTANCE_CONTROLLER_H

include/syropod_highlevel_controller/debug_visualiser.h

@@ -113,4 +113,4 @@ class DebugVisualiser
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-#endif // SYROPOD_HIGHLEVEL_CONTROLLER_DEBUG_OUTPUT_H
+#endif // SYROPOD_HIGHLEVEL_CONTROLLER_DEBUG_OUTPUT_H

include/syropod_highlevel_controller/model.h

@@ -707,4 +707,4 @@ class Tip
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-#endif // SYROPOD_HIGHLEVEL_CONTROLLER_MODEL_H
+#endif // SYROPOD_HIGHLEVEL_CONTROLLER_MODEL_H

include/syropod_highlevel_controller/parameters_and_states.h

@@ -343,7 +343,7 @@ struct Parameters
   AdjustableParameter virtual_damping_ratio; ///< The virtual damping value used in admittance controller calculations
   AdjustableParameter force_gain;            ///< The value used to scale the default tip force input
 
-   // Gait parameters
+  // Gait parameters
   Parameter<int> stance_phase;                             ///< The ratio of the entire step cycle which is in 'stance'
   Parameter<int> swing_phase;                              ///< The ratio of the entire step cycle which is in 'swing'
   Parameter<int> phase_offset;                             ///< The phase offset between step cycles of successive legs
@@ -382,4 +382,4 @@ struct Parameters
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-#endif // SYROPOD_HIGHLEVEL_CONTROLLER_PARAMETERS_AND_STATES_H
+#endif // SYROPOD_HIGHLEVEL_CONTROLLER_PARAMETERS_AND_STATES_H

include/syropod_highlevel_controller/pose.h

@@ -183,7 +183,7 @@ class Pose
     return return_pose;
   };
 
-   /// Generates interpolation from this pose to target pose using control input between zero and one.
+  /// Generates interpolation from this pose to target pose using control input between zero and one.
   /// @param[in] control_input A value between 0.0 and 1.0 which defines the progress of interpolation
   /// @param[in] target_pose The target pose to which interpolation will return with control input of one
   /// @return The resultant interpolated pose
@@ -217,4 +217,4 @@ class Pose
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-#endif // SYROPOD_HIGHLEVEL_CONTROLLER_POSE_H
+#endif // SYROPOD_HIGHLEVEL_CONTROLLER_POSE_H

include/syropod_highlevel_controller/pose_controller.h

@@ -598,4 +598,4 @@ class LegPoser
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-#endif // SYROPOD_HIGHLEVEL_CONTROLLER_POSE_CONTROLLER_H
+#endif // SYROPOD_HIGHLEVEL_CONTROLLER_POSE_CONTROLLER_H

include/syropod_highlevel_controller/standard_includes.h

@@ -59,8 +59,6 @@
 
 #define GRAVITY_ACCELERATION -9.81 ///< Approximate gravitational acceleration (m/s/s)
 
-using namespace std;
-
 /// Converts Degrees to Radians.
 /// @param[in] degrees Value in degrees to be converted to radians
 /// @return Value converted to radians from degrees
@@ -479,4 +477,3 @@ inline Eigen::Matrix4d createDHMatrix(const double& d, const double& theta, cons
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 #endif // SYROPOD_HIGHLEVEL_CONTROLLER_STANDARD_INCLUDES_H
-

include/syropod_highlevel_controller/state_controller.h

@@ -49,7 +49,7 @@ class StateController
 
   /// Accessor for parameter member.
   /// @return Parameter data structure which contains parameter variables
-  inline const Parameters &getParameters(void) { return params_; };
+  inline const Parameters& getParameters(void) { return params_; };
 
   /// Accessor for system state member.
   /// @return Current state of the system

src/admittance_controller.cpp

@@ -131,4 +131,6 @@ void AdmittanceController::updateStiffness(std::shared_ptr<WalkController> walke
       adjacent_leg_2->setVirtualStiffness(current_stiffness_2 + load_stiffness);
     }
   }
-}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

src/debug_visualiser.cpp

@@ -653,4 +653,4 @@ void DebugVisualiser::generateGravity(const Eigen::Vector3d& gravity_estimate)
   gravity_publisher_.publish(gravity);
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////