From b09ef53c7c555995c16f2bf290a702f44cacad11 Mon Sep 17 00:00:00 2001 From: Roelof Oomen Date: Fri, 15 Dec 2023 16:35:51 +0100 Subject: [PATCH] clang-format --- .../src/profile/trajopt_default_plan_profile.cpp | 12 ++++++++---- .../profile/trajopt_ifopt_default_plan_profile.cpp | 12 ++++++++---- 2 files changed, 16 insertions(+), 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 index 5eefe2ba13..7a5af264a2 100644 --- 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::epsilon()).all(); + return (term_type == trajopt::TermType::TT_CNT) && + (abs(cartesian_coeff.array()) >= std::numeric_limits::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::epsilon()).all(); + return (term_type == trajopt::TermType::TT_CNT) && + (abs(joint_coeff.array()) >= std::numeric_limits::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 index 09d4a6fd4f..73896dd613 100644 --- 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::epsilon()).all(); + return (term_type == TrajOptIfoptTermType::CONSTRAINT) && + (abs(cartesian_coeff.array()) >= std::numeric_limits::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::epsilon()).all(); + return (term_type == TrajOptIfoptTermType::CONSTRAINT) && + (abs(joint_coeff.array()) >= std::numeric_limits::epsilon()).all(); } tinyxml2::XMLElement* TrajOptIfoptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& /*doc*/) const