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tesseract-robotics · Dec 15, 2023 · b09ef53 · b09ef53
1 parent e5de419
commit b09ef53
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Showing 2 changed files with 16 additions and 8 deletions.
diff --git a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
@@ -211,14 +211,18 @@ void TrajOptDefaultPlanProfile::addConstraintErrorFunctions(trajopt::ProblemCons
   }
 }
 
-bool TrajOptDefaultPlanProfile::isFixedCartesian() const {
+bool TrajOptDefaultPlanProfile::isFixedCartesian() const
+{
   // If the term type is constraint and all coefficients are non-zero
-  return (term_type == trajopt::TermType::TT_CNT) && (abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
+  return (term_type == trajopt::TermType::TT_CNT) &&
+         (abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
 }
 
-bool TrajOptDefaultPlanProfile::isFixedJoint() const {
+bool TrajOptDefaultPlanProfile::isFixedJoint() const
+{
   // If the term type is constraint and all coefficients are non-zero
-  return (term_type == trajopt::TermType::TT_CNT) && (abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
+  return (term_type == trajopt::TermType::TT_CNT) &&
+         (abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
 }
 
 tinyxml2::XMLElement* TrajOptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& doc) const

diff --git a/tesseract_motion_planners/trajopt_ifopt/src/profile/trajopt_ifopt_default_plan_profile.cpp b/tesseract_motion_planners/trajopt_ifopt/src/profile/trajopt_ifopt_default_plan_profile.cpp
@@ -138,14 +138,18 @@ void TrajOptIfoptDefaultPlanProfile::apply(TrajOptIfoptProblem& problem,
   }
 }
 
-bool TrajOptIfoptDefaultPlanProfile::isFixedCartesian() const {
+bool TrajOptIfoptDefaultPlanProfile::isFixedCartesian() const
+{
   // If the term type is constraint and all coefficients are non-zero
-  return (term_type == TrajOptIfoptTermType::CONSTRAINT) && (abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
+  return (term_type == TrajOptIfoptTermType::CONSTRAINT) &&
+         (abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
 }
 
-bool TrajOptIfoptDefaultPlanProfile::isFixedJoint() const {
+bool TrajOptIfoptDefaultPlanProfile::isFixedJoint() const
+{
   // If the term type is constraint and all coefficients are non-zero
-  return (term_type == TrajOptIfoptTermType::CONSTRAINT) && (abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
+  return (term_type == TrajOptIfoptTermType::CONSTRAINT) &&
+         (abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
 }
 
 tinyxml2::XMLElement* TrajOptIfoptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& /*doc*/) const