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Merge pull request #64 from ethz-adrl/feature/devel
applying a few cosmetic corrections
2 parents d4e0d4e + 59e9246 commit f925e9b

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‎.clang-format

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@@ -35,8 +35,7 @@ BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Custom
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BreakBeforeTernaryOperators: false
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BreakConstructorInitializersBeforeComma: false
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BreakAfterJavaFieldAnnotations: false
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BreakStringLiterals: true
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#BreakStringLiterals: true
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ColumnLimit: 120
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CommentPragmas: '^ IWYU pragma:'
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
@@ -54,12 +53,9 @@ IncludeCategories:
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Priority: 2
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- Regex: '.*'
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Priority: 3
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IncludeIsMainRegex: '([-_](test|unittest))?$'
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IndentCaseLabels: true
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IndentWidth: 4
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IndentWrappedFunctionNames: false
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JavaScriptQuotes: Leave
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JavaScriptWrapImports: true
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KeepEmptyLinesAtTheStartOfBlocks: false
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MacroBlockBegin: ''
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MacroBlockEnd: ''

‎README.md

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

‎ct_core/cmake/FindCppAD.cmake

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

‎ct_core/include/ct/core/common/activations/ActivationBase.hpp

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@@ -19,9 +19,9 @@ class ActivationBase
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{
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public:
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//! constructor
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ActivationBase() {}
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ActivationBase() = default;
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//! destructor
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virtual ~ActivationBase() {}
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virtual ~ActivationBase() = default;
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//! load activations from file
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virtual void loadConfigFile(const std::string& filename, const std::string& termName, bool verbose = false)
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{

‎ct_core/include/ct/core/core-prespec.h

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

‎ct_core/include/ct/core/core.h

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

‎ct_core/include/ct/core/integration/Integrator.h

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{
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}
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#ifdef CPPADCG
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template <typename S = SCALAR>
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typename std::enable_if<std::is_same<S, ADCGScalar>::value, void>::type initializeODEIntSteppers(
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const IntegrationType& intType)
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{
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}
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#endif
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/**
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* @brief Initializes the ODEint fixed size steppers. Does not work for
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* @brief Initializes the ODEint fixed size steppers for double type. Does not work for
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* ad types
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*
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* @param[in] intType The int type
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*
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*/
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template <typename S = SCALAR>
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typename std::enable_if<!std::is_same<S, ADCGScalar>::value, void>::type initializeODEIntSteppers(
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typename std::enable_if<std::is_same<S, double>::value, void>::type initializeODEIntSteppers(
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const IntegrationType& intType)
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{
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switch (intType)
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}
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}
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//! resets the observer
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void reset();
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‎ct_core/include/ct/core/internal/traits/TraitSelectorSpecs.h

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

‎ct_core/include/ct/core/types/AutoDiff.h

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

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