apply clang-tidy

include/dynamixel_control.h

@@ -38,7 +38,7 @@
 #define RF_LEG_UPPER_ID 1
 #define RF_LEG_LOWER_ID 13
 
-class dynamixelControl
+class DynamixelControl
 {
 private:
   ros::NodeHandle _nh;
@@ -60,7 +60,7 @@ class dynamixelControl
   DynamixelWorkbench _dxl_wb;
 
 public:
-  dynamixelControl();
+  DynamixelControl();
   void controlLoop();
   void monitorLFLegCallback(const trajectory_msgs::JointTrajectory& LF_leg);
   void monitorLRLegCallback(const trajectory_msgs::JointTrajectory& LR_leg);

include/inverse_kinematics.h

@@ -24,7 +24,7 @@
 #define BONE_LENGTH 83.0
 #define LENGTH 21.0
 
-class inverseKinematics
+class InverseKinematics
 {
 private:
   ros::NodeHandle _nh;
@@ -38,6 +38,6 @@ class inverseKinematics
   double _duration;
 
 public:
-  inverseKinematics();
+  InverseKinematics();
   void inverseKinematicsCallback(const std_msgs::Float64MultiArray& leg_position);
 };

include/key_control.h

@@ -21,7 +21,7 @@
 #include <std_msgs/Float64.h>
 #include <termios.h>
 
-class keyControl
+class KeyControl
 {
 private:
   ros::NodeHandle _nh;
@@ -35,7 +35,7 @@ class keyControl
   std_msgs::Bool _stand;
 
 public:
-  keyControl();
+  KeyControl();
   void controlLoop();
   int getch();
 };

include/posture_stabilization.h

@@ -28,7 +28,7 @@
 #define X_OFFSET 61
 #define Y_OFFSET 94
 
-class postureStabilization
+class PostureStabilization
 {
 private:
   ros::NodeHandle _nh;
@@ -57,7 +57,7 @@ class postureStabilization
   double _roll_sum, _pitch_sum;
 
 public:
-  postureStabilization();
+  PostureStabilization();
   void controlLoop();
   void imuCallback(const sensor_msgs::Imu& msg);
   void quatToRPY(const geometry_msgs::Quaternion quat, double& roll, double& pitch, double& yaw);

include/standing_motion.h

@@ -21,7 +21,7 @@
 #include <std_msgs/Bool.h>
 #include <std_msgs/Float64MultiArray.h>
 
-class standingMotion
+class StandingMotion
 {
 private:
   ros::NodeHandle _nh;
@@ -34,6 +34,6 @@ class standingMotion
   double _x_offset, _z_offset_LF_leg, _z_offset_LR_leg, _z_offset_RR_leg, _z_offset_RF_leg;
 
 public:
-  standingMotion();
+  StandingMotion();
   void standingMotionCallback(const std_msgs::Bool& stand);
 };

include/trot_gait.h

@@ -22,7 +22,7 @@
 #include <std_msgs/Float64.h>
 #include <std_msgs/Float64MultiArray.h>
 
-class trotGait
+class TrotGait
 {
 private:
   ros::NodeHandle _nh;
@@ -44,7 +44,7 @@ class trotGait
   double _c[4], _c_inv[4], _c_iter[4], _l_inv[4][2];
 
 public:
-  trotGait();
+  TrotGait();
   void controlLoop();
   void trotFowardMotionCallback(const std_msgs::Float64& direction_x);
   void trotTurnMotionCallback(const std_msgs::Float64& turn);

src/dynamixel_control.cpp

@@ -16,7 +16,7 @@
 
 #include "dynamixel_control.h"
 
-dynamixelControl::dynamixelControl() : _pnh("~")
+DynamixelControl::DynamixelControl() : _pnh("~")
 {
   _pnh.param<std::string>("port", _port_name_str, "/dev/ttyACM1");
   _pnh.param<int>("model_number", _model_number_int, 12);
@@ -44,10 +44,10 @@ dynamixelControl::dynamixelControl() : _pnh("~")
     _dxl_id[11] = RF_LEG_LOWER_ID;
   }
 
-  _sub_LF_leg = _nh.subscribe("leftfront_leg_controller/command", 10, &dynamixelControl::monitorLFLegCallback, this);
-  _sub_LR_leg = _nh.subscribe("leftback_leg_controller/command", 10, &dynamixelControl::monitorLRLegCallback, this);
-  _sub_RR_leg = _nh.subscribe("rightback_leg_controller/command", 10, &dynamixelControl::monitorRRLegCallback, this);
-  _sub_RF_leg = _nh.subscribe("rightfront_leg_controller/command", 10, &dynamixelControl::monitorRFLegCallback, this);
+  _sub_LF_leg = _nh.subscribe("leftfront_leg_controller/command", 10, &DynamixelControl::monitorLFLegCallback, this);
+  _sub_LR_leg = _nh.subscribe("leftback_leg_controller/command", 10, &DynamixelControl::monitorLRLegCallback, this);
+  _sub_RR_leg = _nh.subscribe("rightback_leg_controller/command", 10, &DynamixelControl::monitorRRLegCallback, this);
+  _sub_RF_leg = _nh.subscribe("rightfront_leg_controller/command", 10, &DynamixelControl::monitorRFLegCallback, this);
 
   _joint_pos[0].data = 0;      // LF_leg_shoulder_joint
   _joint_pos[1].data = 1.5;    // LF_leg_upper_joint
@@ -70,39 +70,39 @@ dynamixelControl::dynamixelControl() : _pnh("~")
   dxlAddSyncWriteHandler();
 }
 
-void dynamixelControl::monitorLFLegCallback(const trajectory_msgs::JointTrajectory& LF_leg)
+void DynamixelControl::monitorLFLegCallback(const trajectory_msgs::JointTrajectory& LF_leg)
 {
   for (int i = 0; i < 3; i++)
   {
     _joint_pos[i].data = LF_leg.points[0].positions[i];
   }
 }
 
-void dynamixelControl::monitorLRLegCallback(const trajectory_msgs::JointTrajectory& LR_leg)
+void DynamixelControl::monitorLRLegCallback(const trajectory_msgs::JointTrajectory& LR_leg)
 {
   for (int i = 3; i < 6; i++)
   {
     _joint_pos[i].data = LR_leg.points[0].positions[i - 3];
   }
 }
 
-void dynamixelControl::monitorRRLegCallback(const trajectory_msgs::JointTrajectory& RR_leg)
+void DynamixelControl::monitorRRLegCallback(const trajectory_msgs::JointTrajectory& RR_leg)
 {
   for (int i = 6; i < 9; i++)
   {
     _joint_pos[i].data = RR_leg.points[0].positions[i - 6];
   }
 }
 
-void dynamixelControl::monitorRFLegCallback(const trajectory_msgs::JointTrajectory& RF_leg)
+void DynamixelControl::monitorRFLegCallback(const trajectory_msgs::JointTrajectory& RF_leg)
 {
   for (int i = 9; i < 12; i++)
   {
     _joint_pos[i].data = RF_leg.points[0].positions[i - 9];
   }
 }
 
-void dynamixelControl::controlLoop()
+void DynamixelControl::controlLoop()
 {
   int32_t goal_position[12];
   const uint8_t handler_index = 0;
@@ -111,17 +111,17 @@ void dynamixelControl::controlLoop()
     goal_position[i] = 512 + 3.41 * 180 * (_joint_pos[i].data / M_PI);
   }
   _result = _dxl_wb.syncWrite(handler_index, &goal_position[0], &_log);
-  if (_result == false)
+  if (!_result)
   {
     ROS_ERROR("%s", _log);
     ROS_ERROR("Failed to sync write position");
   }
 }
 
-void dynamixelControl::dxlInit()
+void DynamixelControl::dxlInit()
 {
   _result = _dxl_wb.init(_port_name, _baudrate, &_log);
-  if (_result == false)
+  if (!_result)
   {
     ROS_ERROR("%s", _log);
     ROS_ERROR("Failed to init");
@@ -130,31 +130,31 @@ void dynamixelControl::dxlInit()
     ROS_WARN("Succeed to init(%d)", _baudrate);
 }
 
-void dynamixelControl::dxlTorqueOn()
+void DynamixelControl::dxlTorqueOn()
 {
-  for (int cnt = 0; cnt < 12; cnt++)
+  for (unsigned char cnt : _dxl_id)
   {
-    _result = _dxl_wb.ping(_dxl_id[cnt], &_model_number, &_log);
-    if (_result == false)
+    _result = _dxl_wb.ping(cnt, &_model_number, &_log);
+    if (!_result)
     {
       ROS_ERROR("%s", _log);
       ROS_ERROR("Failed to ping");
     }
     else
     {
       ROS_WARN("Succeeded to ping");
-      ROS_WARN("id : %d, model_number : %d", _dxl_id[cnt], _model_number);
+      ROS_WARN("id : %d, model_number : %d", cnt, _model_number);
     }
-    _result = _dxl_wb.torqueOn(_dxl_id[cnt]);
-    if (_result == false)
+    _result = _dxl_wb.torqueOn(cnt);
+    if (!_result)
       ROS_ERROR("torqueOn ERROR");
   }
 }
 
-void dynamixelControl::dxlAddSyncWriteHandler()
+void DynamixelControl::dxlAddSyncWriteHandler()
 {
   _result = _dxl_wb.addSyncWriteHandler(_dxl_id[0], "Goal_Position", &_log);
-  if (_result == false)
+  if (!_result)
   {
     ROS_ERROR("%s", _log);
     ROS_ERROR("Failed to add sync write handler");
@@ -164,11 +164,11 @@ void dynamixelControl::dxlAddSyncWriteHandler()
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "dynamixel_control");
-  dynamixelControl DC;
+  DynamixelControl dc;
   ros::Rate loop_rate(100);
   while (ros::ok())
   {
-    DC.controlLoop();
+    dc.controlLoop();
     ros::spinOnce();
     loop_rate.sleep();
   }

src/inverse_kinematics.cpp

@@ -16,15 +16,15 @@
 
 #include "inverse_kinematics.h"
 
-inverseKinematics::inverseKinematics() : _pnh("~")
+InverseKinematics::InverseKinematics() : _pnh("~")
 {
   _pnh.param<double>("duration", _duration, 0.01);
 
   _pub_LF_leg = _nh.advertise<trajectory_msgs::JointTrajectory>("leftfront_leg_controller/command", 10);
   _pub_LR_leg = _nh.advertise<trajectory_msgs::JointTrajectory>("leftback_leg_controller/command", 10);
   _pub_RF_leg = _nh.advertise<trajectory_msgs::JointTrajectory>("rightfront_leg_controller/command", 10);
   _pub_RR_leg = _nh.advertise<trajectory_msgs::JointTrajectory>("rightback_leg_controller/command", 10);
-  _sub_leg_position = _nh.subscribe("leg_position", 10, &inverseKinematics::inverseKinematicsCallback, this);
+  _sub_leg_position = _nh.subscribe("leg_position", 10, &InverseKinematics::inverseKinematicsCallback, this);
 
   _LF_leg.joint_names.resize(3);
   _LF_leg.points.resize(1);
@@ -52,12 +52,12 @@ inverseKinematics::inverseKinematics() : _pnh("~")
   _RF_leg.joint_names[2] = "rightfront_leg_lower_joint";
 }
 
-void inverseKinematics::inverseKinematicsCallback(const std_msgs::Float64MultiArray& leg_position)
+void InverseKinematics::inverseKinematicsCallback(const std_msgs::Float64MultiArray& leg_position)
 {
   double x, y, z, a0, a1, b0;
   double angle1, angle2, angle3;
-  double target_leg_shoulder_joint, target_L_leg_upper_joint, target_L_leg_lower_joint, target_R_leg_upper_joint,
-      target_R_leg_lower_joint;
+  double target_leg_shoulder_joint, target_l_leg_upper_joint, target_l_leg_lower_joint, target_r_leg_upper_joint,
+      target_r_leg_lower_joint;
 
   for (int l = 0; l < 4; l++)
   {
@@ -74,11 +74,11 @@ void inverseKinematics::inverseKinematicsCallback(const std_msgs::Float64MultiAr
       angle2 = atan2(x, sqrt(y * y + z * z - LENGTH * LENGTH)) -
                atan2(BONE_LENGTH * sin(angle3), BONE_LENGTH * (1 + cos(angle3)));
       target_leg_shoulder_joint = angle1;
-      target_L_leg_upper_joint = -angle2;
-      target_L_leg_lower_joint = angle3;
+      target_l_leg_upper_joint = -angle2;
+      target_l_leg_lower_joint = angle3;
       _LF_leg.points[0].positions[0] = target_leg_shoulder_joint;
-      _LF_leg.points[0].positions[1] = target_L_leg_upper_joint;
-      _LF_leg.points[0].positions[2] = target_L_leg_lower_joint;
+      _LF_leg.points[0].positions[1] = target_l_leg_upper_joint;
+      _LF_leg.points[0].positions[2] = target_l_leg_lower_joint;
       _LF_leg.header.stamp = ros::Time::now();
       _LF_leg.points[0].time_from_start = ros::Duration(_duration);
       _pub_LF_leg.publish(_LF_leg);
@@ -90,11 +90,11 @@ void inverseKinematics::inverseKinematicsCallback(const std_msgs::Float64MultiAr
       angle2 = atan2(x, sqrt(y * y + z * z - LENGTH * LENGTH)) -
                atan2(BONE_LENGTH * sin(angle3), BONE_LENGTH * (1 + cos(angle3)));
       target_leg_shoulder_joint = angle1;
-      target_L_leg_upper_joint = -angle2;
-      target_L_leg_lower_joint = angle3;
+      target_l_leg_upper_joint = -angle2;
+      target_l_leg_lower_joint = angle3;
       _LR_leg.points[0].positions[0] = target_leg_shoulder_joint;
-      _LR_leg.points[0].positions[1] = target_L_leg_upper_joint;
-      _LR_leg.points[0].positions[2] = target_L_leg_lower_joint;
+      _LR_leg.points[0].positions[1] = target_l_leg_upper_joint;
+      _LR_leg.points[0].positions[2] = target_l_leg_lower_joint;
       _LR_leg.header.stamp = ros::Time::now();
       _LR_leg.points[0].time_from_start = ros::Duration(_duration);
       _pub_LR_leg.publish(_LR_leg);
@@ -106,11 +106,11 @@ void inverseKinematics::inverseKinematicsCallback(const std_msgs::Float64MultiAr
       angle2 = atan2(x, sqrt(y * y + z * z - LENGTH * LENGTH)) -
                atan2(BONE_LENGTH * sin(angle3), BONE_LENGTH * (1 + cos(angle3)));
       target_leg_shoulder_joint = angle1;
-      target_R_leg_upper_joint = angle2;
-      target_R_leg_lower_joint = -angle3;
+      target_r_leg_upper_joint = angle2;
+      target_r_leg_lower_joint = -angle3;
       _RR_leg.points[0].positions[0] = target_leg_shoulder_joint;
-      _RR_leg.points[0].positions[1] = target_R_leg_upper_joint;
-      _RR_leg.points[0].positions[2] = target_R_leg_lower_joint;
+      _RR_leg.points[0].positions[1] = target_r_leg_upper_joint;
+      _RR_leg.points[0].positions[2] = target_r_leg_lower_joint;
       _RR_leg.header.stamp = ros::Time::now();
       _RR_leg.points[0].time_from_start = ros::Duration(_duration);
       _pub_RR_leg.publish(_RR_leg);
@@ -122,11 +122,11 @@ void inverseKinematics::inverseKinematicsCallback(const std_msgs::Float64MultiAr
       angle2 = atan2(x, sqrt(y * y + z * z - LENGTH * LENGTH)) -
                atan2(BONE_LENGTH * sin(angle3), BONE_LENGTH * (1 + cos(angle3)));
       target_leg_shoulder_joint = angle1;
-      target_R_leg_upper_joint = angle2;
-      target_R_leg_lower_joint = -angle3;
+      target_r_leg_upper_joint = angle2;
+      target_r_leg_lower_joint = -angle3;
       _RF_leg.points[0].positions[0] = target_leg_shoulder_joint;
-      _RF_leg.points[0].positions[1] = target_R_leg_upper_joint;
-      _RF_leg.points[0].positions[2] = target_R_leg_lower_joint;
+      _RF_leg.points[0].positions[1] = target_r_leg_upper_joint;
+      _RF_leg.points[0].positions[2] = target_r_leg_lower_joint;
       _RF_leg.header.stamp = ros::Time::now();
       _RF_leg.points[0].time_from_start = ros::Duration(_duration);
       _pub_RF_leg.publish(_RF_leg);
@@ -137,7 +137,7 @@ void inverseKinematics::inverseKinematicsCallback(const std_msgs::Float64MultiAr
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "inverse_kinematics");
-  inverseKinematics IK;
+  InverseKinematics ik;
   ros::spin();
   return 0;
 }

src/key_control.cpp

@@ -16,7 +16,7 @@
 
 #include "key_control.h"
 
-keyControl::keyControl()
+KeyControl::KeyControl()
 {
   _trot_foward_motion_pub = _nh.advertise<std_msgs::Float64>("trot_foward_motion", 10);
   _trot_turn_motion_pub = _nh.advertise<std_msgs::Float64>("trot_turn_motion", 10);
@@ -41,7 +41,7 @@ keyControl::keyControl()
   std::cout << "\033[32mX : Posture control on/off\033[0m" << std::endl;
 }
 
-int keyControl::getch()
+int KeyControl::getch()
 {
   static struct termios oldt, newt;
   tcgetattr(STDIN_FILENO, &oldt);
@@ -53,7 +53,7 @@ int keyControl::getch()
   return c;
 }
 
-void keyControl::controlLoop()
+void KeyControl::controlLoop()
 {
   int c = getch();
   if (c == 'w')
@@ -129,11 +129,11 @@ void keyControl::controlLoop()
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "key_control");
-  keyControl KC;
+  KeyControl kc;
   ros::Rate loop_rate(10);
   while (ros::ok())
   {
-    KC.controlLoop();
+    kc.controlLoop();
     ros::spinOnce();
     loop_rate.sleep();
   }