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tesseract-robotics · Dec 13, 2023 · f389ca9 · f389ca9
1 parent 05f15d6
commit f389ca9
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Showing 4 changed files with 25 additions and 18 deletions.
diff --git a/tesseract_common/include/tesseract_common/class_loader.hpp b/tesseract_common/include/tesseract_common/class_loader.hpp
@@ -186,7 +186,7 @@ std::vector<std::string> ClassLoader::getAvailableSections(const std::string& li
     if (include_hidden)
       return false;
 
-    return (section.substr(0, 1) == ".") ||  (section.substr(0, 1) == "_");
+    return (section.substr(0, 1) == ".") || (section.substr(0, 1) == "_");
   };
 
   sections.erase(std::remove_if(sections.begin(), sections.end(), search_fn), sections.end());

diff --git a/tesseract_srdf/src/group_states.cpp b/tesseract_srdf/src/group_states.cpp
@@ -57,8 +57,8 @@ GroupJointStates parseGroupStates(const tesseract_scene_graph::SceneGraph& scene
 
     bool found = std::find(group_names.begin(), group_names.end(), group_name) != group_names.end();
     if (!found)
-      std::throw_with_nested(std::runtime_error(
-          tesseract_common::strFormat("GroupStates: State '%s' group '%s' does not exist!", state_name.c_str(), group_name.c_str())));
+      std::throw_with_nested(std::runtime_error(tesseract_common::strFormat(
+          "GroupStates: State '%s' group '%s' does not exist!", state_name.c_str(), group_name.c_str())));
 
     GroupsJointState joint_state;
 
@@ -98,8 +98,10 @@ GroupJointStates parseGroupStates(const tesseract_scene_graph::SceneGraph& scene
     }
 
     if (joint_state.empty())
-      std::throw_with_nested(std::runtime_error(tesseract_common::strFormat(
-          "GroupStates: State '%s' for group '%s' is missing joint elements!", state_name.c_str(), group_name.c_str())));
+      std::throw_with_nested(std::runtime_error(tesseract_common::strFormat("GroupStates: State '%s' for group '%s' is "
+                                                                            "missing joint elements!",
+                                                                            state_name.c_str(),
+                                                                            group_name.c_str())));
 
     auto gs = group_states.find(group_name);
     if (gs == group_states.end())

diff --git a/tesseract_srdf/src/group_tool_center_points.cpp b/tesseract_srdf/src/group_tool_center_points.cpp
@@ -68,8 +68,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
 
       if (xml_element->Attribute("name") == nullptr || xml_element->Attribute("xyz") == nullptr ||
           (xml_element->Attribute("rpy") == nullptr && xml_element->Attribute("wxyz") == nullptr))
-        std::throw_with_nested(
-            std::runtime_error(strFormat("GroupTCPs: Invalid tcp definition for group '%s'!", group_name_string.c_str())));
+        std::throw_with_nested(std::runtime_error(
+            strFormat("GroupTCPs: Invalid tcp definition for group '%s'!", group_name_string.c_str())));
 
       std::string tcp_name_string;
       tinyxml2::XMLError status = tesseract_common::QueryStringAttributeRequired(xml_element, "name", tcp_name_string);

diff --git a/tesseract_srdf/src/groups.cpp b/tesseract_srdf/src/groups.cpp
@@ -59,7 +59,7 @@ parseGroups(const tesseract_scene_graph::SceneGraph& scene_graph,
     std::vector<std::string> links;
     std::vector<std::string> joints;
     std::vector<std::pair<std::string, std::string>> chains;
-    
+
     // get the links in the groups
     for (const tinyxml2::XMLElement* link_xml = xml_element->FirstChildElement("link"); link_xml != nullptr;
          link_xml = link_xml->NextSiblingElement("link"))
@@ -71,8 +71,8 @@ parseGroups(const tesseract_scene_graph::SceneGraph& scene_graph,
             strFormat("Group: '%s' link element is missing or failed to parse attribute 'name'!", group_name.c_str())));
 
       if (!scene_graph.getLink(link_name))
-        std::throw_with_nested(std::runtime_error(
-            strFormat("Group: '%s' link '%s' is not known to the Scene Graph!", group_name.c_str(), link_name.c_str())));
+        std::throw_with_nested(std::runtime_error(strFormat(
+            "Group: '%s' link '%s' is not known to the Scene Graph!", group_name.c_str(), link_name.c_str())));
 
       links.push_back(link_name);
     }
@@ -84,12 +84,13 @@ parseGroups(const tesseract_scene_graph::SceneGraph& scene_graph,
       std::string joint_name;
       tinyxml2::XMLError status = tesseract_common::QueryStringAttributeRequired(joint_xml, "name", joint_name);
       if (status != tinyxml2::XML_SUCCESS)
-        std::throw_with_nested(std::runtime_error(
-            strFormat("Group: '%s' joint element is missing or failed to parse attribute 'name'!", group_name.c_str())));
+        std::throw_with_nested(std::runtime_error(strFormat("Group: '%s' joint element is missing or failed to parse "
+                                                            "attribute 'name'!",
+                                                            group_name.c_str())));
 
       if (!scene_graph.getJoint(joint_name))
-        std::throw_with_nested(std::runtime_error(
-            strFormat("Group: '%s' joint '%s' is not known to the Scene Graph!", group_name.c_str(), joint_name.c_str())));
+        std::throw_with_nested(std::runtime_error(strFormat(
+            "Group: '%s' joint '%s' is not known to the Scene Graph!", group_name.c_str(), joint_name.c_str())));
 
       joints.push_back(joint_name);
     }
@@ -115,12 +116,16 @@ parseGroups(const tesseract_scene_graph::SceneGraph& scene_graph,
                                                             group_name.c_str())));
 
       if (!scene_graph.getLink(base_link_name))
-        std::throw_with_nested(std::runtime_error(strFormat(
-            "Group: '%s' chain element base link '%s' is not known to the Scene Graph!", group_name.c_str(), base_link_name.c_str())));
+        std::throw_with_nested(std::runtime_error(strFormat("Group: '%s' chain element base link '%s' is not known to "
+                                                            "the Scene Graph!",
+                                                            group_name.c_str(),
+                                                            base_link_name.c_str())));
 
       if (!scene_graph.getLink(tip_link_name))
-        std::throw_with_nested(std::runtime_error(strFormat(
-            "Group: '%s' chain element tip link '%s' is not known to the Scene Graph!", group_name.c_str(), tip_link_name.c_str())));
+        std::throw_with_nested(std::runtime_error(strFormat("Group: '%s' chain element tip link '%s' is not known to "
+                                                            "the Scene Graph!",
+                                                            group_name.c_str(),
+                                                            tip_link_name.c_str())));
 
       chains.emplace_back(base_link_name, tip_link_name);
     }