フォーマット

crane_robot_skills/include/crane_robot_skills/skill_base.hpp

@@ -158,10 +158,7 @@ class SkillBase
     return std::get<T>(parameters[key]);
   }
 
-  const auto & getParameters() const
-  {
-    return parameters;
-  }
+  const auto & getParameters() const { return parameters; }
 
 protected:
   //  Status status = Status::RUNNING;

crane_robot_skills/src/robot_command_as_skill.cpp

@@ -64,7 +64,7 @@ CmdKickStraight::CmdKickStraight(uint8_t id, std::shared_ptr<WorldModelWrapper>
       const std::shared_ptr<WorldModelWrapper> & world_model,
       const std::shared_ptr<RobotInfo> & robot,
       crane::RobotCommandWrapper & command) -> SkillBase::Status {
-      command.kickWithChip(getParameter<double>("power"));                                                              \
+      command.kickWithChip(getParameter<double>("power"));
       return SkillBase::Status::SUCCESS;
     });
 }
@@ -100,7 +100,8 @@ CmdSetVelocity::CmdSetVelocity(uint8_t id, std::shared_ptr<WorldModelWrapper> &
     });
 }
 
-CmdSetTargetPosition::CmdSetTargetPosition(uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
+CmdSetTargetPosition::CmdSetTargetPosition(
+  uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
 : SkillBase<>("CmdSetTargetPosition", id, world_model, DefaultStates::DEFAULT)
 {
   setParameter("x", 0.0);
@@ -115,9 +116,9 @@ CmdSetTargetPosition::CmdSetTargetPosition(uint8_t id, std::shared_ptr<WorldMode
       crane::RobotCommandWrapper & command) -> SkillBase::Status {
       Point target{getParameter<double>("x"), getParameter<double>("y")};
       command.setTargetPosition(target);
-      if(getParameter<bool>("exit_immediately")){
+      if (getParameter<bool>("exit_immediately")) {
         return SkillBase::Status::SUCCESS;
-      }else {
+      } else {
         if ((robot->pose.pos - target).norm() <= getParameter<double>("reach_threshold")) {
           return SkillBase::Status::SUCCESS;
         } else {
@@ -127,7 +128,8 @@ CmdSetTargetPosition::CmdSetTargetPosition(uint8_t id, std::shared_ptr<WorldMode
     });
 }
 
-CmdSetDribblerTargetPosition::CmdSetDribblerTargetPosition(uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
+CmdSetDribblerTargetPosition::CmdSetDribblerTargetPosition(
+  uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
 : SkillBase<>("CmdSetDribblerTargetPosition", id, world_model, DefaultStates::DEFAULT)
 {
   setParameter("x", 0.0);
@@ -144,7 +146,7 @@ CmdSetDribblerTargetPosition::CmdSetDribblerTargetPosition(uint8_t id, std::shar
       command.setDribblerTargetPosition(target);
       if (getParameter<bool>("exit_immediately")) {
         return SkillBase::Status::SUCCESS;
-      }else {
+      } else {
         if ((robot->kicker_center() - target).norm() <= getParameter<double>("reach_threshold")) {
           return SkillBase::Status::SUCCESS;
         } else {
@@ -210,7 +212,8 @@ CmdSetMaxVelocity::CmdSetMaxVelocity(uint8_t id, std::shared_ptr<WorldModelWrapp
     });
 }
 
-CmdSetMaxAcceleration::CmdSetMaxAcceleration(uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
+CmdSetMaxAcceleration::CmdSetMaxAcceleration(
+  uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
 : SkillBase<>("CmdSetMaxAcceleration", id, world_model, DefaultStates::DEFAULT)
 {
   setParameter("max_acceleration", 0.5);
@@ -240,7 +243,8 @@ CmdSetMaxOmega::CmdSetMaxOmega(uint8_t id, std::shared_ptr<WorldModelWrapper> &
     });
 }
 
-CmdSetTerminalVelocity::CmdSetTerminalVelocity(uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
+CmdSetTerminalVelocity::CmdSetTerminalVelocity(
+  uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model)
 : SkillBase<>("CmdSetTerminalVelocity", id, world_model, DefaultStates::DEFAULT)
 {
   setParameter("terminal_velocity", 0.5);

crane_simple_ai/include/crane_commander.hpp

@@ -120,7 +120,8 @@ private slots:
   std::shared_ptr<ROSNode> ros_node;
   std::deque<Task> task_queue;
   std::unordered_map<
-    std::string, std::function<std::shared_ptr<SkillBase<>>(uint8_t id, WorldModelWrapper::SharedPtr & world_model)>>
+    std::string, std::function<std::shared_ptr<SkillBase<>>(
+                   uint8_t id, WorldModelWrapper::SharedPtr & world_model)>>
     skill_generators;
   std::unordered_map<std::string, Task> default_task_dict;
 

crane_simple_ai/src/crane_commander.cpp

@@ -94,7 +94,6 @@
   //    return true;
   //  };
 
-
   ui->commandComboBox->clear();
   for (const auto & task : default_task_dict) {
     ui->commandComboBox->addItem(QString::fromStdString(task.second.name));
@@ -106,14 +105,16 @@
       return;
     }
     auto task = task_queue.front();
-    if(task.skill == nullptr) {
-        task.skill = skill_generators[task.name](ros_node->commander->getMsg().robot_id, ros_node->world_model);
+    if (task.skill == nullptr) {
+      task.skill =
+        skill_generators[task.name](ros_node->commander->getMsg().robot_id, ros_node->world_model);
     }
     ui->logTextBrowser->append(QString::fromStdString(task.getText()));
 
     bool task_result;
     try {
-      task_result = (task.skill->run(*ros_node->commander,task.parameters) == SkillBase<>::Status::SUCCESS);
+      task_result =
+        (task.skill->run(*ros_node->commander, task.parameters) == SkillBase<>::Status::SUCCESS);
     } catch (std::exception & e) {
       ui->logTextBrowser->append(QString::fromStdString(e.what()));
       task_queue.pop_front();
@@ -126,7 +127,7 @@
     if (task_result) {
       task_queue.pop_front();
       if (task_queue.empty()) {
-//        onQueueToBeEmpty();
+        //        onQueueToBeEmpty();
       }
     }
   });
@@ -243,15 +244,15 @@
 void CraneCommander::on_commandComboBox_currentTextChanged(const QString & command_name)
 {
   ui->parametersTableWidget->clear();
-  for(int i = 0; i < ui->parametersTableWidget->rowCount(); i++) {
+  for (int i = 0; i < ui->parametersTableWidget->rowCount(); i++) {
     ui->parametersTableWidget->removeRow(i);
   }
   ui->parametersTableWidget->setColumnCount(3);
   QStringList headerlist;
   headerlist << "Name"
              << "Value"
              << "Type";
   ui->parametersTableWidget->setHorizontalHeaderLabels(headerlist);
   auto default_params = default_task_dict[command_name.toStdString()].parameters;
   for (auto parameter : default_params) {
     // add new row