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clang-format
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rjoomen committed Dec 15, 2023
1 parent cffb814 commit 6f774ad
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Showing 2 changed files with 16 additions and 8 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -211,14 +211,18 @@ void TrajOptDefaultPlanProfile::addConstraintErrorFunctions(trajopt::ProblemCons
}
}

bool TrajOptDefaultPlanProfile::isFixedCartesian() const {
bool TrajOptDefaultPlanProfile::isFixedCartesian() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == trajopt::TermType::TT_CNT) && (abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
return (term_type == trajopt::TermType::TT_CNT) &&
(abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
}

bool TrajOptDefaultPlanProfile::isFixedJoint() const {
bool TrajOptDefaultPlanProfile::isFixedJoint() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == trajopt::TermType::TT_CNT) && (abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
return (term_type == trajopt::TermType::TT_CNT) &&
(abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
}

tinyxml2::XMLElement* TrajOptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& doc) const
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Original file line number Diff line number Diff line change
Expand Up @@ -138,14 +138,18 @@ void TrajOptIfoptDefaultPlanProfile::apply(TrajOptIfoptProblem& problem,
}
}

bool TrajOptIfoptDefaultPlanProfile::isFixedCartesian() const {
bool TrajOptIfoptDefaultPlanProfile::isFixedCartesian() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == TrajOptIfoptTermType::CONSTRAINT) && (abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
return (term_type == TrajOptIfoptTermType::CONSTRAINT) &&
(abs(cartesian_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
}

bool TrajOptIfoptDefaultPlanProfile::isFixedJoint() const {
bool TrajOptIfoptDefaultPlanProfile::isFixedJoint() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == TrajOptIfoptTermType::CONSTRAINT) && (abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
return (term_type == TrajOptIfoptTermType::CONSTRAINT) &&
(abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
}

tinyxml2::XMLElement* TrajOptIfoptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& /*doc*/) const
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