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humanoid-path-planner · Oct 22, 2019 · b317b75 · b317b75
1 parent 05e12ed
commit b317b75
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Showing 6 changed files with 3,616 additions and 4,169 deletions.
diff --git a/include/hpp/corbaserver/rbprm/server.hh b/include/hpp/corbaserver/rbprm/server.hh
@@ -18,37 +18,35 @@
 // <http://www.gnu.org/licenses/>.
 
 #ifndef HPP_RBPRM_CORBA_SERVER_HH
-# define HPP_RBPRM_CORBA_SERVER_HH
+#define HPP_RBPRM_CORBA_SERVER_HH
 
-# include <hpp/corba/template/server.hh>
+#include <hpp/corba/template/server.hh>
 
-# include <hpp/corbaserver/problem-solver-map.hh>
-# include <hpp/corbaserver/rbprm/config.hh>
-# include <hpp/corbaserver/server-plugin.hh>
+#include <hpp/corbaserver/problem-solver-map.hh>
+#include <hpp/corbaserver/rbprm/config.hh>
+#include <hpp/corbaserver/server-plugin.hh>
 
 namespace hpp {
-  namespace rbprm {
-    namespace impl {
-      class RbprmBuilder;
-    }
-    class HPP_RBPRM_CORBA_DLLAPI Server : public corbaServer::ServerPlugin
-    {
-    public:
-      Server (corbaServer::Server* parent);
-
-      ~Server ();
-
-      /// Start corba server
-      /// Call hpp::corba::Server <impl::Problem>::startCorbaServer
-      void startCorbaServer(const std::string& contextId,
-                            const std::string& contextKind);
-
-      std::string name () const;
-
-    public:
-      corba::Server <impl::RbprmBuilder>* rbprmBuilder_;
-    }; // class Server
-  } // namespace rbprm
-} // namespace hpp
-
-#endif // HPP_RBPRM_CORBA_SERVER_HH
+namespace rbprm {
+namespace impl {
+class RbprmBuilder;
+}
+class HPP_RBPRM_CORBA_DLLAPI Server : public corbaServer::ServerPlugin {
+ public:
+  Server(corbaServer::Server* parent);
+
+  ~Server();
+
+  /// Start corba server
+  /// Call hpp::corba::Server <impl::Problem>::startCorbaServer
+  void startCorbaServer(const std::string& contextId, const std::string& contextKind);
+
+  std::string name() const;
+
+ public:
+  corba::Server<impl::RbprmBuilder>* rbprmBuilder_;
+};  // class Server
+}  // namespace rbprm
+}  // namespace hpp
+
+#endif  // HPP_RBPRM_CORBA_SERVER_HH
diff --git a/src/fwd.hh b/src/fwd.hh
@@ -16,12 +16,11 @@
 // <http://www.gnu.org/licenses/>.
 
 #ifndef HPP_MANIPULATION_CORBA_FWD_HH
-# define HPP_MANIPULATION_CORBA_FWD_HH
+#define HPP_MANIPULATION_CORBA_FWD_HH
 
 namespace hpp {
-  namespace manipulation {
-    namespace corba {
-    }
-  }
-}
-#endif // HPP_MANIPULATION_CORBA_FWD_HH
+namespace manipulation {
+namespace corba {}
+}  // namespace manipulation
+}  // namespace hpp
+#endif  // HPP_MANIPULATION_CORBA_FWD_HH
diff --git a/src/hpp-rbprm-corba.cc b/src/hpp-rbprm-corba.cc
@@ -19,15 +19,13 @@
 #include <hpp/core/problem-solver.hh>
 
 typedef hpp::corbaServer::Server CorbaServer;
-int main (int argc, char* argv [])
-{
-    hpp::core::ProblemSolverPtr_t problemSolver (hpp::core::ProblemSolver::create());
+int main(int argc, char* argv[]) {
+  hpp::core::ProblemSolverPtr_t problemSolver(hpp::core::ProblemSolver::create());
 
-    CorbaServer corbaServer (problemSolver, argc,
-               const_cast<const char**> (argv), true);
+  CorbaServer corbaServer(problemSolver, argc, const_cast<const char**>(argv), true);
 
-    corbaServer.startCorbaServer ();
-    corbaServer.loadPlugin (corbaServer.mainContextId (), "rbprm-corba.so");
-    corbaServer.loadPlugin (corbaServer.mainContextId (), "affordance-corba.so");
-    corbaServer.processRequest(true);
+  corbaServer.startCorbaServer();
+  corbaServer.loadPlugin(corbaServer.mainContextId(), "rbprm-corba.so");
+  corbaServer.loadPlugin(corbaServer.mainContextId(), "affordance-corba.so");
+  corbaServer.processRequest(true);
 }