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stack-of-tasks · Sep 2, 2020 · 4c71012 · 4c71012
1 parent d24f733
commit 4c71012
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Showing 2 changed files with 37 additions and 34 deletions.
diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
@@ -17,7 +17,6 @@
 
 #include "SpringPlugin.hh"
 
-
 using namespace gazebo;
 
 GZ_REGISTER_MODEL_PLUGIN(SpringPlugin)
@@ -26,9 +25,7 @@ GZ_REGISTER_MODEL_PLUGIN(SpringPlugin)
 SpringPlugin::SpringPlugin() {}
 
 /////////////////////////////////////////////////
-void SpringPlugin::Load(physics::ModelPtr lmodel,
-                           sdf::ElementPtr lsdf)
-{
+void SpringPlugin::Load(physics::ModelPtr lmodel, sdf::ElementPtr lsdf) {
   model_ = lmodel;
 
   // hardcoded params for this test
@@ -43,24 +40,18 @@ void SpringPlugin::Load(physics::ModelPtr lmodel,
 
   axisExplicit_ = lsdf->Get<int>("axis");
 
-  ROS_INFO_NAMED("SpringPlugin",
-                 "Loading joint : %s kp: %f kd: %f alongs %d axis",
-                 jointExplicitName_.c_str(),
-                 kpExplicit_,
-                 kdExplicit_,
-                 axisExplicit_);
+  ROS_INFO_NAMED("SpringPlugin", "Loading joint : %s kp: %f kd: %f alongs %d axis", jointExplicitName_.c_str(),
+                 kpExplicit_, kdExplicit_, axisExplicit_);
 }
 
 /////////////////////////////////////////////////
-void SpringPlugin::Init()
-{
+void SpringPlugin::Init() {
   jointExplicit_ = model_->GetJoint(jointExplicitName_);
 
   /*  jointImplicit->SetStiffnessDamping(0, kpImplicit,
       kdImplicit); */
 
-  updateConnection_ = event::Events::ConnectWorldUpdateBegin(
-          boost::bind(&SpringPlugin::ExplicitUpdate, this));
+  updateConnection_ = event::Events::ConnectWorldUpdateBegin(boost::bind(&SpringPlugin::ExplicitUpdate, this));
 }
 
 /////////////////////////////////////////////////
@@ -80,7 +71,6 @@ void SpringPlugin::ExplicitUpdate() {
   double pos = jointExplicit_->Position(axisExplicit_);
 #endif
   double vel = jointExplicit_->GetVelocity(axisExplicit_);
-  double force = -kpExplicit_ * pos
-                 -kdExplicit_ * vel;
+  double force = -kpExplicit_ * pos - kdExplicit_ * vel;
   jointExplicit_->SetForce(axisExplicit_, force);
 }
diff --git a/src/SpringPlugin.hh b/src/SpringPlugin.hh
@@ -28,33 +28,46 @@
 
 #pragma GCC diagnostic pop
 
-namespace gazebo
-{
-class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin
-{
-public: SpringPlugin();
-public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
-public: virtual void Init();
+namespace gazebo {
+class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin {
+ public:
+  SpringPlugin();
 
-private: void ExplicitUpdate();
+ public:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
 
-private: event::ConnectionPtr updateConnection_;
+ public:
+  virtual void Init();
 
-private: physics::ModelPtr model_;
+ private:
+  void ExplicitUpdate();
 
-private: common::Time prevUpdateTime_;
+ private:
+  event::ConnectionPtr updateConnection_;
 
-private: physics::JointPtr jointExplicit_;
-private: std::string jointExplicitName_;
+ private:
+  physics::ModelPtr model_;
+
+ private:
+  common::Time prevUpdateTime_;
+
+ private:
+  physics::JointPtr jointExplicit_;
+
+ private:
+  std::string jointExplicitName_;
 
   /// \brief simulate spring/damper with ExplicitUpdate function
-private: double kpExplicit_;
+ private:
+  double kpExplicit_;
 
   /// \brief simulate spring/damper with ExplicitUpdate function
-private: double kdExplicit_;
-
+ private:
+  double kdExplicit_;
+
   /// \brief Specify on which axis the spring is applied.
-private: int axisExplicit_;
+ private:
+  int axisExplicit_;
 };
-}
+}  // namespace gazebo
 #endif