Merge pull request #81 from PickNikRobotics/remove-trailing-whitespace

remove trailing whitespace

.travis.yml

@@ -1,6 +1,6 @@
-sudo: required 
-dist: trusty 
-language: generic 
+sudo: required
+dist: trusty
+language: generic
 compiler:
   - gcc
 notifications:
@@ -13,5 +13,5 @@ env:
     - ROS_DISTRO="kinetic" UPSTREAM_WORKSPACE=file  ROSINSTALL_FILENAME=.travis.rosinstall
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-script: 
+script:
   - source .ci_config/travis.sh

moveit_simple/CMakeLists.txt

@@ -57,7 +57,7 @@ include_directories(
   ${EIGEN3_INCLUDE_DIRS}
 )
 
-add_library(${PROJECT_NAME} 
+add_library(${PROJECT_NAME}
   src/joint_lock_options.cpp
   src/joint_locker.cpp
   src/online_robot.cpp

moveit_simple/include/moveit_simple/exceptions.h

@@ -50,12 +50,12 @@ class ExecutionFailureException : public std::runtime_error
 class IKFailException : public std::runtime_error
 {
 public:
-  IKFailException(const std::string errorDescription) 
+  IKFailException(const std::string errorDescription)
     : std::runtime_error(errorDescription) { }
 };
 
 /**
- * @brief IKSolverTransformException: 
+ * @brief IKSolverTransformException:
  *
  * This inherits from std::runtime_error.
  * This is an exception class to be thrown when a custom iksolver is
@@ -78,12 +78,12 @@ class IKSolverTransformException : public std::runtime_error
 class CollisionDetected : public std::runtime_error
 {
 public:
-  CollisionDetected(const std::string errorDescription) 
+  CollisionDetected(const std::string errorDescription)
     : std::runtime_error(errorDescription) { }
 };
 
 /**
- * @brief JointSeedException: 
+ * @brief JointSeedException:
  *
  * This inherits from std::runtime_error.
  * This is an exception class to be thrown when a pre-defined joint
@@ -93,7 +93,7 @@ class CollisionDetected : public std::runtime_error
 class JointSeedException : public std::runtime_error
 {
 public:
-  JointSeedException(const std::string error_description) 
+  JointSeedException(const std::string error_description)
     : std::runtime_error(error_description) { }
 };
 } // namespace moveit_simple

moveit_simple/include/moveit_simple/online_robot.h

@@ -40,7 +40,7 @@ class OnlineRobot : public Robot
 public:
   /**
   * @brief Constructor
-  */  
+  */
   OnlineRobot(const ros::NodeHandle &nh, const std::string &robot_description,
     const std::string &group_name);
 
@@ -51,7 +51,7 @@ class OnlineRobot : public Robot
   * some tcp frame.
   */
   OnlineRobot(const ros::NodeHandle &nh, const std::string &robot_description,
-    const std::string &group_name, const std::string &ik_base_frame, 
+    const std::string &group_name, const std::string &ik_base_frame,
     const std::string &ik_tip_frame);
 
   /**

moveit_simple/include/moveit_simple/point_types.h

@@ -58,7 +58,7 @@ typedef std::vector<TrajectoryPointInfo> TrajectoryInfo;
 
 class TrajectoryPoint
 {
-public: 
+public:
   friend class Robot;
 
   virtual ~TrajectoryPoint() { }
@@ -112,7 +112,7 @@ class JointTrajectoryPoint : public TrajectoryPoint
 public:
   friend class CombinedTrajectoryPoint;
   JointTrajectoryPoint() : TrajectoryPoint("", 0.0, PointType::JOINT) { }
-  
+
   virtual ~JointTrajectoryPoint() { }
 
   JointTrajectoryPoint(std::vector<double> &joint_point, double t, std::string name = std::string(),
@@ -196,7 +196,7 @@ class CombinedTrajectoryPoint : public TrajectoryPoint
   {
     return pose_;
   }
-  
+
   const std::vector<double> &jointPoint() const
   {
     return joint_point_;
@@ -210,7 +210,7 @@ class CombinedTrajectoryPoint : public TrajectoryPoint
   std::string pointVecToString(const std::vector<double> &vec) const;
 
 protected:
-  
+
   virtual std::unique_ptr<JointTrajectoryPoint>
   toJointTrajPoint(const Robot &robot, double timeout, const std::vector<double> &seed,
                    JointLockOptions options = JointLockOptions::LOCK_NONE) const;

moveit_simple/include/moveit_simple/prettyprint.hpp

@@ -89,7 +89,7 @@ namespace pretty_print
     struct delimiters
     {
         using type = delimiters_values<TChar>;
-        static const type values; 
+        static const type values;
     };
 
 

moveit_simple/include/moveit_simple/robot.h

@@ -50,7 +50,7 @@ class Robot
 public:
   /**
   * @brief Constructor
-  */  
+  */
   Robot(const ros::NodeHandle &nh, const std::string &robot_description,
     const std::string &group_name);
 
@@ -92,7 +92,7 @@ class Robot
    * @param timeout - (optional) timeout for IK
    * @return
    */
-  bool isInCollision(const Eigen::Affine3d &pose, 
+  bool isInCollision(const Eigen::Affine3d &pose,
     const geometry_msgs::TransformStamped &frame_to_robot_base,
     const std::string &joint_seed, double timeout = 10.0) const;
 
@@ -141,7 +141,7 @@ class Robot
    * @param joint_seed (optional) - seed to use
    * @return
    */
-  bool isInCollision(const Eigen::Affine3d &pose, 
+  bool isInCollision(const Eigen::Affine3d &pose,
     const geometry_msgs::TransformStamped &frame_to_robot_base,
     double timeout = 10.0, std::vector<double> joint_seed = std::vector<double>()) const;
 
@@ -174,7 +174,7 @@ class Robot
   * @param joint_seed - seed to use
   * @return
   */
-  bool isReachable(const Eigen::Affine3d &pose, 
+  bool isReachable(const Eigen::Affine3d &pose,
     const geometry_msgs::TransformStamped &frame_to_robot_base,
     const std::string &joint_seed, double timeout = 10.0) const;
 
@@ -212,7 +212,7 @@ class Robot
    * @param joint_seed (optional) - named seed to use defined in srdf
    * @return
    */
-  bool isReachable(const Eigen::Affine3d &pose, 
+  bool isReachable(const Eigen::Affine3d &pose,
     const geometry_msgs::TransformStamped &frame_to_robot_base,
     double timeout = 10.0, std::vector<double> joint_seed = std::vector<double>()) const;
 
@@ -439,11 +439,11 @@ class Robot
   void updateRvizRobotState(const Eigen::Affine3d &pose, const std::string &in_frame,
     std::vector<double> joint_seed = std::vector<double>(), double timeout = 10.0) const;
 
-  void updateRvizRobotState(const Eigen::Affine3d &pose, 
+  void updateRvizRobotState(const Eigen::Affine3d &pose,
     const geometry_msgs::TransformStamped &frame_to_robot_base,
     const std::string &joint_seed, double timeout = 10.0) const;
 
-  void updateRvizRobotState(const Eigen::Affine3d &pose, 
+  void updateRvizRobotState(const Eigen::Affine3d &pose,
     const geometry_msgs::TransformStamped &frame_to_robot_base,
     std::vector<double> joint_seed = std::vector<double>(),
     double timeout = 10.0) const;
@@ -460,7 +460,7 @@ class Robot
 
   Eigen::Affine3d transformToBase(const Eigen::Affine3d &in, const std::string &in_frame) const;
 
-  Eigen::Affine3d transformToBase(const Eigen::Affine3d &in, 
+  Eigen::Affine3d transformToBase(const Eigen::Affine3d &in,
     const geometry_msgs::TransformStamped &transform_msg) const;
 
   /**
@@ -522,7 +522,7 @@ class Robot
    * @param t: parameteric time
    * @param point: interpolated Cartesian point
    */
-  void interpolate(const std::unique_ptr<CartTrajectoryPoint> &from, 
+  void interpolate(const std::unique_ptr<CartTrajectoryPoint> &from,
     const std::unique_ptr<CartTrajectoryPoint> &to, double t,
     std::unique_ptr<CartTrajectoryPoint> &point) const;
 

moveit_simple/package.xml

@@ -3,10 +3,10 @@
   <name>moveit_simple</name>
   <version>0.1.0</version>
   <description>Includes simple wrappers for calling MoveIt as a ROS based library.  Similar function as MoveGroup but all calls are made locally using direct MoveIt objects.  This library assumes that MoveIt is being used in a broader ROS system (i.e. certain parameters, like robot_description exist)</description>
-  
-  <license>Apache 2.0</license> <!-- moveit_simple --> 
+
+  <license>Apache 2.0</license> <!-- moveit_simple -->
   <license>Boost Software License</license> <!-- prettyprint -->
-  
+
   <maintainer email="[email protected]">Shaun Edwards</maintainer>
   <author>Shaun Edwards</author>
 

moveit_simple/src/online_robot.cpp

@@ -29,7 +29,7 @@
 namespace moveit_simple
 {
 OnlineRobot::OnlineRobot(const ros::NodeHandle &nh, const std::string &robot_description,
-  const std::string &group_name) : Robot(nh, robot_description, group_name), 
+  const std::string &group_name) : Robot(nh, robot_description, group_name),
   action_("joint_trajectory_action", true)
 {
   current_robot_state_.reset(new moveit::core::RobotState(robot_model_ptr_));
@@ -139,7 +139,7 @@ void OnlineRobot::execute(std::vector<moveit_simple::JointTrajectoryPoint> &join
   }
   else
   {
-    ROS_ERROR_STREAM("Collision detected at " << collision_points 
+    ROS_ERROR_STREAM("Collision detected at " << collision_points
       << " points for Joint Trajectory");
     throw CollisionDetected("Collision detected while interpolating ");
   }

moveit_simple/test/kuka_kr210.cpp

@@ -37,7 +37,7 @@ class UserRobotTest : public ::testing::Test
 protected:
   std::unique_ptr<moveit_simple::OnlineRobot> robot;
   virtual void SetUp()
-  {      
+  {
   robot = std::unique_ptr<moveit_simple::OnlineRobot> (new moveit_simple::OnlineRobot
                   (ros::NodeHandle(), "robot_description", "manipulator"));
   ros::Duration(2.0).sleep();  //wait for tf tree to populate
@@ -62,7 +62,7 @@ class DeveloperRobot: public moveit_simple::OnlineRobot
   using moveit_simple::OnlineRobot::cartesianInterpolation;
   using moveit_simple::OnlineRobot::isInCollision;
 };
-  
+
 /**
  * @brief DeveloperRobotTest is a fixture for testing protected methods.
  * Objects that can be directly used inside the test
@@ -74,7 +74,7 @@ class DeveloperRobotTest : public ::testing::Test
 protected:
   std::unique_ptr<DeveloperRobot> robot2;
   virtual void SetUp()
-  {      
+  {
   robot2 = std::unique_ptr<DeveloperRobot> (new DeveloperRobot
                   (ros::NodeHandle(), "robot_description", "manipulator"));
   ros::Duration(2.0).sleep();  //wait for tf tree to populate
@@ -87,7 +87,7 @@ class DeveloperRobotTest : public ::testing::Test
 
 TEST(MoveitSimpleTest, construction_robot)
 {
-  moveit_simple::Robot robot(ros::NodeHandle(), "robot_description", "manipulator");  
+  moveit_simple::Robot robot(ros::NodeHandle(), "robot_description", "manipulator");
 }
 
 
@@ -100,7 +100,7 @@ TEST(MoveitSimpleTest, construction_online_robot)
 TEST(MoveitSimpleTest, reachability)
 {
   moveit_simple::Robot robot(ros::NodeHandle(), "robot_description", "manipulator");
-  const Eigen::Affine3d pose = Eigen::Affine3d::Identity(); 
+  const Eigen::Affine3d pose = Eigen::Affine3d::Identity();
   ros::Duration(2.0).sleep();  //wait for tf tree to populate
 
   ROS_INFO_STREAM("Testing reachability of unknown point, should fail");
@@ -122,7 +122,7 @@ TEST(MoveitSimpleTest, reachability)
 TEST_F(UserRobotTest, add_trajectory)
 {
   const std::string TRAJECTORY_NAME("traj1");
-  const Eigen::Affine3d pose = Eigen::Affine3d::Identity(); 
+  const Eigen::Affine3d pose = Eigen::Affine3d::Identity();
   const moveit_simple::InterpolationType cart = moveit_simple::interpolation_type::CARTESIAN;
   const moveit_simple::InterpolationType joint = moveit_simple::interpolation_type::JOINT;
 
@@ -131,13 +131,13 @@ TEST_F(UserRobotTest, add_trajectory)
   EXPECT_THROW(robot->addTrajPoint(TRAJECTORY_NAME, pose, "random_link", 5.0), tf2::TransformException);
   ROS_INFO_STREAM("Testing trajectory adding of points");
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "home",      0.5));
-  
+
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "waypoint1", 1.0, joint, 5));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "tf_pub1", 2.0, cart, 8));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "waypoint2", 3.0));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "waypoint3", 4.0, joint));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, pose, "tool0", 5.0));
-  
+
   EXPECT_NO_THROW(robot->execute(TRAJECTORY_NAME));
 
   EXPECT_NO_THROW(robot->addTrajPoint("traj2", "waypoint4", 4.5));
@@ -176,7 +176,7 @@ TEST_F(DeveloperRobotTest, planning)
 
   EXPECT_TRUE(robot2->getJointSolution(cart_interpolated_expected_pose, 3.0, seed, cart_interpolated_expected_joint));
 
-  // joint_point1,joint_point4, cart_point1 and cart_point3 
+  // joint_point1,joint_point4, cart_point1 and cart_point3
   // represent the same pose
   // joint_point2, cart_point2 and joint_point3 represent the same pose
   std::unique_ptr<moveit_simple::TrajectoryPoint> joint_point1 =
@@ -432,19 +432,19 @@ TEST_F(UserRobotTest, speed_reconfiguration)
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "tf_pub1",   2.0));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "waypoint2", 3.0));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "waypoint3", 4.0));
-  
+
   // Test 1 -- Max_Execution_Speed: Plan & then Execute that Plan separately
   robot->setSpeedModifier(1.0);
   EXPECT_TRUE(robot->getSpeedModifier() == 1.0);
 
   std::vector<moveit_simple::JointTrajectoryPoint> goal;
 
   EXPECT_NO_THROW(goal = robot->plan(TRAJECTORY_NAME));
-  EXPECT_NO_THROW(robot->execute(goal));  
-  
+  EXPECT_NO_THROW(robot->execute(goal));
+
   execution_time_check_1 = goal[goal.size()-1].time();
   EXPECT_TRUE(execution_time_check_1 >= 0.0);
-  ROS_INFO_STREAM("Time for single traj. execution at MAX speed: " 
+  ROS_INFO_STREAM("Time for single traj. execution at MAX speed: "
     << execution_time_check_1 << " seconds");
 
   // Test 2 -- Half_Execution_Speed: Plan & Execute
@@ -482,12 +482,12 @@ TEST_F(UserRobotTest, speed_reconfiguration)
   delta_time_for_speed_limits = delta_max_half_speeds - delta_half_min_speeds;
   EXPECT_NEAR(delta_time_for_speed_limits, 0.0, execution_time_tolerance);
 
-  if(abs(delta_time_for_speed_limits) > execution_time_tolerance) 
+  if(abs(delta_time_for_speed_limits) > execution_time_tolerance)
   {
-    ROS_ERROR_STREAM("Time diff between [MAX_SPEED/REGULAR_SPEED] --> [" << 
-                     execution_time_check_1 << ", " << execution_time_check_2 << 
+    ROS_ERROR_STREAM("Time diff between [MAX_SPEED/REGULAR_SPEED] --> [" <<
+                     execution_time_check_1 << ", " << execution_time_check_2 <<
                      "] & [REGULAR_SPEED/MIN_SPEED] --> [" << execution_time_check_2 <<
-                     ", " << execution_time_check_3 << "] is " << delta_time_for_speed_limits << 
+                     ", " << execution_time_check_3 << "] is " << delta_time_for_speed_limits <<
                      "; but tolerance limit is [" << execution_time_tolerance << "]");
   }
 }
@@ -623,7 +623,7 @@ TEST_F(UserRobotTest, custom_tool_link)
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "waypoint3", "tool_custom", 4.0));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, "waypoint1", tool_name, 5.0, joint, 5));
   EXPECT_NO_THROW(robot->addTrajPoint(TRAJECTORY_NAME, pose_eigen, "tool0", 6.0));
-  
+
   EXPECT_NO_THROW(robot->execute(TRAJECTORY_NAME));
 }
 

moveit_simple/test/launch/kuka_kr210.launch

@@ -20,7 +20,7 @@
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find moveit_simple)/test/resources/kuka_kr210/kuka_kr210.srdf" />
-  
+
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find moveit_simple)/test/resources/kuka_kr210/joint_limits.yaml"/>

moveit_simple/test/launch/motoman_mh5.launch

@@ -17,7 +17,7 @@
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find moveit_simple)/test/resources/motoman_mh5/config/motoman_mh5_robot.srdf" />
-  
+
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find moveit_simple)/test/resources/motoman_mh5/config/joint_limits.yaml"/>