Merge pull request #64 from ethz-adrl/feature/devel

applying a few cosmetic corrections
ethz-adrl · Dec 28, 2019 · f925e9b · f925e9b
2 parents d4e0d4e + 59e9246
commit f925e9b
Show file tree

Hide file tree

Showing 48 changed files with 313 additions and 227 deletions.
diff --git a/.clang-format b/.clang-format
@@ -35,8 +35,7 @@ BreakBeforeBinaryOperators: None
 BreakBeforeBraces: Custom
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: false
-BreakAfterJavaFieldAnnotations: false
-BreakStringLiterals: true
+#BreakStringLiterals: true
 ColumnLimit: 120
 CommentPragmas: '^ IWYU pragma:'
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
@@ -54,12 +53,9 @@ IncludeCategories:
  Priority: 2
  - Regex: '.*'
  Priority: 3
-IncludeIsMainRegex: '([-_](test|unittest))?$'
 IndentCaseLabels: true
 IndentWidth: 4
 IndentWrappedFunctionNames: false
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
 MacroBlockBegin: ''
 MacroBlockEnd: ''

diff --git a/README.md b/README.md
@@ -56,10 +56,16 @@ The CT was designed with the following features in mind:
 
 The Control Toolbox has been used for Hardware and Simulation control tasks on flying, walking and ground robots.
 
-[![ct example](https://img.youtube.com/vi/Y7-1CBqs4x4/0.jpg)](https://www.youtube.com/embed/Y7-1CBqs4x4)
-[![ct_example](https://img.youtube.com/vi/vuCSKtP67E4/0.jpg)](https://www.youtube.com/embed/vuCSKtP67E4)
-[![ct_example](https://img.youtube.com/vi/rWmw-ERGyz4/0.jpg)](https://www.youtube.com/embed/rWmw-ERGyz4)
-[![ct_example](https://img.youtube.com/vi/rVu1L_tPCoM/0.jpg)](https://www.youtube.com/embed/rVu1L_tPCoM)
+<a href="http://www.youtube.com/watch?feature=player_embedded&v=Y7-1CBqs4x4" target="_blank"><img src="http://img.youtube.com/vi/Y7-1CBqs4x4/0.jpg" 
+alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
+<a href="http://www.youtube.com/watch?feature=player_embedded&v=vuCSKtP67E4" target="_blank"><img src="http://img.youtube.com/vi/vuCSKtP67E4/0.jpg" 
+alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
+
+<a href="http://www.youtube.com/watch?feature=player_embedded&v=rWmw-ERGyz4" target="_blank"><img src="http://img.youtube.com/vi/rWmw-ERGyz4/0.jpg" 
+alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
+<a href="http://www.youtube.com/watch?feature=player_embedded&v=rVu1L_tPCoM" target="_blank"><img src="http://img.youtube.com/vi/rVu1L_tPCoM/0.jpg" 
+alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
+
 
 
 ## What is the CT?

diff --git a/ct_core/cmake/FindCppAD.cmake b/ct_core/cmake/FindCppAD.cmake
@@ -1,11 +1,15 @@
 
+UNSET(CPPAD_INCLUDE_DIRS CACHE)
+UNSET(CPPAD_LIBRARIES CACHE)
+
+
 IF (CPPAD_INCLUDES AND CPPAD_LIBRARIES)
  SET(CPPAD_FIND_QUIETLY TRUE)
 ENDIF ()
 
 
 IF(DEFINED CPPAD_HOME)
-
+ 
  FIND_PATH(CPPAD_INCLUDE_DIR NAMES cppad/cppad.hpp
  PATHS "${CPPAD_HOME}"
  NO_DEFAULT_PATH)

diff --git a/ct_core/include/ct/core/common/activations/ActivationBase.hpp b/ct_core/include/ct/core/common/activations/ActivationBase.hpp
@@ -19,9 +19,9 @@ class ActivationBase
 {
 public:
  //! constructor
- ActivationBase() {}
+ ActivationBase() = default;
  //! destructor
- virtual ~ActivationBase() {}
+ virtual ~ActivationBase() = default;
  //! load activations from file
  virtual void loadConfigFile(const std::string& filename, const std::string& termName, bool verbose = false)
  {

diff --git a/ct_core/include/ct/core/core-prespec.h b/ct_core/include/ct/core/core-prespec.h
@@ -11,12 +11,16 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 #include <cstdlib>
 #include <functional>
 
+#ifdef CPPADCG
 #include <cppad/cg.hpp>
+#endif
 
+#ifdef CPPAD
 #include <cppad/cppad.hpp>
 #include <cppad/example/cppad_eigen.hpp>
 #include <cppad/example/eigen_mat_inv.hpp>
 #include "internal/autodiff/CppadParallel.h"
+#endif
 
 // Include file for convenience
 #include <Eigen/Core>

diff --git a/ct_core/include/ct/core/core.h b/ct_core/include/ct/core/core.h
@@ -12,12 +12,16 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 #include <algorithm>
 #include <cstdlib>
 
+#ifdef CPPADCG
 #include <cppad/cg.hpp>
+#endif
 
+#ifdef CPPAD
 #include <cppad/cppad.hpp>
 #include <cppad/example/cppad_eigen.hpp>
 #include <cppad/example/eigen_mat_inv.hpp>
 #include "internal/autodiff/CppadParallel.h"
+#endif
 
 // Include file for convenience
 #include <Eigen/Core>

diff --git a/ct_core/include/ct/core/integration/Integrator.h b/ct_core/include/ct/core/integration/Integrator.h
@@ -285,22 +285,23 @@ class Integrator
  {
  }
 
+#ifdef CPPADCG
  template <typename S = SCALAR>
  typename std::enable_if<std::is_same<S, ADCGScalar>::value, void>::type initializeODEIntSteppers(
  const IntegrationType& intType)
  {
  }
-
+#endif
 
  /**
- * @brief Initializes the ODEint fixed size steppers. Does not work for
+ * @brief Initializes the ODEint fixed size steppers for double type. Does not work for
  * ad types
  *
  * @param[in] intType The int type
  *
  */
  template <typename S = SCALAR>
- typename std::enable_if<!std::is_same<S, ADCGScalar>::value, void>::type initializeODEIntSteppers(
+ typename std::enable_if<std::is_same<S, double>::value, void>::type initializeODEIntSteppers(
  const IntegrationType& intType)
  {
  switch (intType)
@@ -349,6 +350,7 @@ class Integrator
  }
  }
 
+
  //! resets the observer
  void reset();
 

diff --git a/ct_core/include/ct/core/internal/traits/TraitSelectorSpecs.h b/ct_core/include/ct/core/internal/traits/TraitSelectorSpecs.h
@@ -5,26 +5,33 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 
 #pragma once
 
+#ifdef CPPADCG
 #include "CppADCodegenTrait.h"
+#endif 
+#ifdef CPPAD
 #include "CppADDoubleTrait.h"
+#endif 
 #include <ct/core/internal/traits/TraitSelector.h>
 
 namespace ct {
 namespace core {
 namespace tpl {
 
+#ifdef CPPAD
 template <>
 struct TraitSelector<CppAD::AD<double>>
 {
  typedef internal::CppADDoubleTrait Trait;
 };
+#endif
 
+#ifdef CPPADCG
 template <>
 struct TraitSelector<CppAD::AD<CppAD::cg::CG<double>>>
 {
  typedef internal::CppADCodegenTrait Trait;
 };
-
+#endif
 
 } // namespace tpl
 } // namespace core

diff --git a/ct_core/include/ct/core/types/AutoDiff.h b/ct_core/include/ct/core/types/AutoDiff.h
@@ -5,15 +5,24 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 
 #pragma once
 
+#ifdef CPPADCG
 #include <cppad/cg.hpp>
+#endif
+
+#ifdef CPPAD
 #include <cppad/cppad.hpp>
+#endif
 
 namespace ct {
 namespace core {
 
+#ifdef CPPAD
 typedef CppAD::AD<double> ADScalar;
-typedef CppAD::cg::CG<double> ADCGValueType;
+#endif
 
+#ifdef CPPADCG
+typedef CppAD::cg::CG<double> ADCGValueType;
 typedef CppAD::AD<ADCGValueType> ADCGScalar; //!< scalar type
+#endif
 }
 }