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[pre-commit.ci] pre-commit autoupdate #31

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merged 2 commits into from
Mar 14, 2024
Merged

[pre-commit.ci] pre-commit autoupdate #31

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3d35d1f
[pre-commit.ci] pre-commit autoupdate
pre-commit-ci[bot] Mar 12, 2024
1bedb11
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Mar 12, 2024
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2 changes: 1 addition & 1 deletion .pre-commit-config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ repos:
hooks:
- id: check-useless-excludes
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v17.0.6
rev: v18.1.1
hooks:
- id: clang-format
'types_or': [c++, c]
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3 changes: 1 addition & 2 deletions include/mc_state_observation/measurements/ContactsManager.hpp
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Expand Up @@ -16,8 +16,7 @@ void ContactsManager<ContactT>::init(const mc_control::MCController & ctl,
OnAddedContact onAddedContact)
{
std::visit([this, &ctl, &robotName, onAddedContact](const auto & c)
{ init_manager(ctl, robotName, c, onAddedContact); },
conf);
{ init_manager(ctl, robotName, c, onAddedContact); }, conf);
}

template<typename ContactT>
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14 changes: 5 additions & 9 deletions src/AttitudeObserver.cpp
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Expand Up @@ -153,10 +153,8 @@ void AttitudeObserver::addToLogger(const mc_control::MCController &,
mc_rtc::Logger & logger,
const std::string & category)
{
logger.addLogEntry(category + "_orientation",
[this]() -> sva::PTransformd {
return sva::PTransformd{m_orientation.transpose(), Eigen::Vector3d::Zero()};
});
logger.addLogEntry(category + "_orientation", [this]() -> sva::PTransformd
{ return sva::PTransformd{m_orientation.transpose(), Eigen::Vector3d::Zero()}; });
if(log_kf_) { config_.addToLogger(logger, category); }
}

Expand All @@ -181,11 +179,9 @@ void AttitudeObserver::addToGUI(const mc_control::MCController & ctl,
mc_rtc::log::info("[{}] Manual reset triggerred", name());
reset(ctl);
}),
mc_rtc::gui::ArrayLabel("Result", {"r [deg]", "p [deg]", "y [deg]"},
[this]() -> Eigen::Vector3d {
return mc_rbdyn::rpyFromMat(m_orientation.transpose()) * 180.
/ mc_rtc::constants::PI;
}));
mc_rtc::gui::ArrayLabel(
"Result", {"r [deg]", "p [deg]", "y [deg]"}, [this]() -> Eigen::Vector3d
{ return mc_rbdyn::rpyFromMat(m_orientation.transpose()) * 180. / mc_rtc::constants::PI; }));
}

void AttitudeObserver::KalmanFilterConfig::addToLogger(mc_rtc::Logger & logger, const std::string & category)
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56 changes: 27 additions & 29 deletions src/SLAMObserver.cpp
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Expand Up @@ -309,33 +309,32 @@ void SLAMObserver::addToGUI(const mc_control::MCController & ctl,
mc_rtc::gui::StateBuilder & gui,
const std::vector<std::string> & category)
{
gui.addElement(category, mc_rtc::gui::Transform("X_S_Ground", [this]() { return X_Slam_Ground_; }),
mc_rtc::gui::Button("Initialize",
[this, &ctl]()
{
if(!isInitialized_)
{
isInitialized_ = true;
const auto & real_robot = ctl.realRobot(robot_);
const auto & X_0_Camera = real_robot.bodyPosW(camera_);
X_0_Slam_ = X_Slam_Estimated_Camera_.inv() * X_0_Camera;
filter_->reset();
}
}),
mc_rtc::gui::Transform("X_0_Slam", [this]() { return X_0_Slam_; }),
mc_rtc::gui::ArrayLabel("X_Slam_Camera", {"r", "p", "y", "x", "y", "z"},
[this]()
{
Eigen::VectorXd ret(6);
sva::PTransformd X_Slam_Camera = X_0_Estimated_camera_ * X_0_Slam_.inv();
ret << mc_rbdyn::rpyFromMat(X_Slam_Camera.rotation()),
X_Slam_Camera.translation();
return ret;
}),
mc_rtc::gui::Label("Is Observer initialized?", [this]() { return (isInitialized_ ? "Yes" : "No"); }),
mc_rtc::gui::Button("Delete initialization", [this]() { isInitialized_ = false; }),
mc_rtc::gui::Checkbox(
"Enable plots", [this]() { return plotsEnabled_; }, [this, &gui]() { togglePlots(gui); }));
gui.addElement(
category, mc_rtc::gui::Transform("X_S_Ground", [this]() { return X_Slam_Ground_; }),
mc_rtc::gui::Button("Initialize",
[this, &ctl]()
{
if(!isInitialized_)
{
isInitialized_ = true;
const auto & real_robot = ctl.realRobot(robot_);
const auto & X_0_Camera = real_robot.bodyPosW(camera_);
X_0_Slam_ = X_Slam_Estimated_Camera_.inv() * X_0_Camera;
filter_->reset();
}
}),
mc_rtc::gui::Transform("X_0_Slam", [this]() { return X_0_Slam_; }),
mc_rtc::gui::ArrayLabel("X_Slam_Camera", {"r", "p", "y", "x", "y", "z"},
[this]()
{
Eigen::VectorXd ret(6);
sva::PTransformd X_Slam_Camera = X_0_Estimated_camera_ * X_0_Slam_.inv();
ret << mc_rbdyn::rpyFromMat(X_Slam_Camera.rotation()), X_Slam_Camera.translation();
return ret;
}),
mc_rtc::gui::Label("Is Observer initialized?", [this]() { return (isInitialized_ ? "Yes" : "No"); }),
mc_rtc::gui::Button("Delete initialization", [this]() { isInitialized_ = false; }),
mc_rtc::gui::Checkbox("Enable plots", [this]() { return plotsEnabled_; }, [this, &gui]() { togglePlots(gui); }));

std::vector<std::string> categoryFilter = category;
categoryFilter.push_back("Filter");
Expand All @@ -348,8 +347,7 @@ void SLAMObserver::addToGUI(const mc_control::MCController & ctl,
}),
mc_rtc::gui::Label("Apply filter:", [this]() { return (isFiltered_ ? "yes" : "no"); }),
mc_rtc::gui::ArrayInput(
"Filter config", {"m", "d", "n"},
[this]()
"Filter config", {"m", "d", "n"}, [this]()
{ return Eigen::Vector3d(filter_->config().m, filter_->config().s, filter_->config().n); },
[this](const Eigen::Vector3d & v)
{
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