Remove .clang_format and modify to match upstream/devel branch

Author: egordon

.bash_aliases

@@ -0,0 +1,7 @@
+# for Proficio
+alias leftConfig='cp ~/libbarrett/proficio_sandbox/configurations/wam3.conf.left /etc/barrett/wam3.conf; cp ~/libbarrett/proficio_sandbox/configurations/zerocal.conf.left /etc/barrett/calibration_data/wam3/zerocal.conf; cp ~/libbarrett/proficio_sandbox/configurations/calibration.conf.left /etc/barrett/calibration.conf; cp ~/libbarrett/proficio_sandbox/configurations/gravitycal.conf.left /etc/barrett/calibration_data/wam3/gravitycal.conf'
+alias rightConfig='cp ~/libbarrett/proficio_sandbox/configurations/wam3.conf.right /etc/barrett/wam3.conf; cp ~/libbarrett/proficio_sandbox/configurations/zerocal.conf.right /etc/barrett/calibration_data/wam3/zerocal.conf; cp ~/libbarrett/proficio_sandbox/configurations/calibration.conf.right /etc/barrett/calibration.conf'
+alias checkSetup='head -n 1 /etc/barrett/wam3.conf; head -n 1 /etc/barrett/calibration.conf; head -n 1 /etc/barrett/calibration_data/wam3/zerocal.conf'
+
+alias btutil='~/btclient/src/btutil/btutil'
+alias resetcan='sudo sh ~/libbarrett/scripts/reset_can.sh'

.clang-format

@@ -49,10 +49,10 @@ template <size_t DOF>
 int wam_main(int argc, char **argv, ProductManager &pm,
              systems::Wam<DOF> &wam) {
 
-	// The WAM is now Shift-activated and applying zero torque with a loop-rate
-	// of 500Hz.
+  // The WAM is now Shift-activated and applying zero torque with a loop-rate
+  // of 500Hz.
 
-	// Wait for the user to press Shift-idle
-	pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
-	return 0;
+  // Wait for the user to press Shift-idle
+  pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
+  return 0;
 }

examples/ex01_initialize_wam.cpp

@@ -42,82 +42,82 @@
 using namespace barrett;
 
 void printMenu() {
-	printf("Commands:\n");
-	printf("  j  Hold joint positions\n");
-	printf("  p  Hold tool position (in Cartesian space)\n");
-	printf("  o  Hold tool orientation\n");
-	printf("  b  Hold both tool position and orientation\n");
-	printf("  i  Idle (release position/orientation constraints)\n");
-	printf("  q  Quit\n");
+  printf("Commands:\n");
+  printf("  j  Hold joint positions\n");
+  printf("  p  Hold tool position (in Cartesian space)\n");
+  printf("  o  Hold tool orientation\n");
+  printf("  b  Hold both tool position and orientation\n");
+  printf("  i  Idle (release position/orientation constraints)\n");
+  printf("  q  Quit\n");
 }
 
 template <size_t DOF>
 int wam_main(int argc, char **argv, ProductManager &pm,
              systems::Wam<DOF> &wam) {
-	wam.gravityCompensate();
-	printMenu();
-
-	std::string line;
-	bool going = true;
-	while (going) {
-		printf(">>> ");
-		std::getline(std::cin, line);
-
-		switch (line[0]) {
-		case 'j':
-			printf("Holding joint positions.\n");
-			wam.moveTo(wam.getJointPositions());
-			break;
-
-		case 'p':
-			printf("Holding tool position.\n");
-			wam.moveTo(wam.getToolPosition());
-			break;
-
-		case 'o':
-			printf("Holding tool orientation.\n");
-			wam.moveTo(wam.getToolOrientation());
-			break;
-
-		case 'b':
-			printf("Holding both tool position and orientation.\n");
-			wam.moveTo(wam.getToolPose());
-			break;
-
-		case 'i':
-			printf("WAM idled.\n");
-
-			// Note that this use of the word "idle" does not mean "Shift-idle".
-			// Calling Wam::idle() will disable any of the controllers that may
-			// be connected (joint position, tool position, tool orientation,
-			// etc.) leaving only gravity compensation. (More specifically,
-			// Wam::idle() disconnects any inputs that were connected using
-			// Wam::trackReferenceSignal().)
-			wam.idle();
-			break;
-
-		case 'q':
-		case 'x':
-			printf("Quitting.\n");
-			wam.moveHome();
-			going = false;
-			break;
-
-		default:
-			if (line.size() != 0) {
-				printf("Unrecognized option.\n");
-				printMenu();
-			}
-			break;
-		}
-	}
-
-	// Release the WAM if we're holding. This is convenient because it allows
-	// users to move the WAM back to some collapsed position before exiting, if
-	// they want.
-	wam.idle();
-
-	// Wait for the user to press Shift-idle
-	pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
-	return 0;
+  wam.gravityCompensate();
+  printMenu();
+
+  std::string line;
+  bool going = true;
+  while (going) {
+    printf(">>> ");
+    std::getline(std::cin, line);
+
+    switch (line[0]) {
+    case 'j':
+      printf("Holding joint positions.\n");
+      wam.moveTo(wam.getJointPositions());
+      break;
+
+    case 'p':
+      printf("Holding tool position.\n");
+      wam.moveTo(wam.getToolPosition());
+      break;
+
+    case 'o':
+      printf("Holding tool orientation.\n");
+      wam.moveTo(wam.getToolOrientation());
+      break;
+
+    case 'b':
+      printf("Holding both tool position and orientation.\n");
+      wam.moveTo(wam.getToolPose());
+      break;
+
+    case 'i':
+      printf("WAM idled.\n");
+
+      // Note that this use of the word "idle" does not mean "Shift-idle".
+      // Calling Wam::idle() will disable any of the controllers that may
+      // be connected (joint position, tool position, tool orientation,
+      // etc.) leaving only gravity compensation. (More specifically,
+      // Wam::idle() disconnects any inputs that were connected using
+      // Wam::trackReferenceSignal().)
+      wam.idle();
+      break;
+
+    case 'q':
+    case 'x':
+      printf("Quitting.\n");
+      wam.moveHome();
+      going = false;
+      break;
+
+    default:
+      if (line.size() != 0) {
+        printf("Unrecognized option.\n");
+        printMenu();
+      }
+      break;
+    }
+  }
+
+  // Release the WAM if we're holding. This is convenient because it allows
+  // users to move the WAM back to some collapsed position before exiting, if
+  // they want.
+  wam.idle();
+
+  // Wait for the user to press Shift-idle
+  pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
+  return 0;
 }