Changeset 15 in flair-src for trunk/lib/FlairSimulator/src/Simulator.cpp

Timestamp:

Apr 8, 2016, 3:40:57 PM (9 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSimulator/src/Simulator.cpp (modified) (1 diff)

trunk/lib/FlairSimulator/src/Simulator.cpp

@@ -27 +27 @@
 using namespace flair::core;
 
-namespace
-{
-    flair::simulator::Simulator* simu=NULL;
+namespace {
+flair::simulator::Simulator *simu = NULL;
 }
 
-namespace flair
-{
-namespace simulator
-{
+namespace flair {
+namespace simulator {
 
-Simulator* getSimulator(void) {
-    return simu;
+Simulator *getSimulator(void) { return simu; }
+
+Simulator::Simulator(string name, int optitrack_mstime, float yaw_deg)
+    : FrameworkManager(name) {
+  if (simu != NULL)
+    Err("Simulator should be instanced only one time\n");
+
+  pimpl_ = new Simulator_impl(this, optitrack_mstime, yaw_deg);
+  simu = this;
 }
 
-Simulator::Simulator(string name,int optitrack_mstime,float yaw_deg): FrameworkManager(name)
-{
-    if(simu!=NULL) Err("Simulator should be instanced only one time\n");
-
-    pimpl_=new Simulator_impl(this,optitrack_mstime,yaw_deg);
-    simu=this;
-}
-
-Simulator::~Simulator()
-{
-    delete pimpl_;
-}
+Simulator::~Simulator() { delete pimpl_; }
 
 Quaternion Simulator::ToVRPNReference(Quaternion quat_in) {
-    Quaternion yaw_rot_quat;
-    Euler yaw_rot_euler(0,0,-pimpl_->yaw_rad);//yaw_rad is vrpn rotation in earth reference
-    yaw_rot_euler.ToQuaternion(yaw_rot_quat);
+  Quaternion yaw_rot_quat;
+  Euler yaw_rot_euler(
+      0, 0, -pimpl_->yaw_rad); // yaw_rad is vrpn rotation in earth reference
+  yaw_rot_euler.ToQuaternion(yaw_rot_quat);
 
-    return yaw_rot_quat*quat_in;
+  return yaw_rot_quat * quat_in;
 }
 
 Vector3D Simulator::ToVRPNReference(Vector3D point_in) {
-    Quaternion yaw_rot_quat;
-    Euler yaw_rot_euler(0,0,-pimpl_->yaw_rad);//yaw_rad is vrpn rotation in earth reference
-    yaw_rot_euler.ToQuaternion(yaw_rot_quat);
-    point_in.Rotate(yaw_rot_quat);
+  Quaternion yaw_rot_quat;
+  Euler yaw_rot_euler(
+      0, 0, -pimpl_->yaw_rad); // yaw_rad is vrpn rotation in earth reference
+  yaw_rot_euler.ToQuaternion(yaw_rot_quat);
+  point_in.Rotate(yaw_rot_quat);
 
-    return point_in;
+  return point_in;
 }
 
-float Simulator::Yaw(void) const
-{
-    return pimpl_->yaw_rad;
-}
+float Simulator::Yaw(void) const { return pimpl_->yaw_rad; }
 
-void Simulator::RunSimu(void)
-{
-    pimpl_->RunSimu();
-}
+void Simulator::RunSimu(void) { pimpl_->RunSimu(); }
 
 } // end namespace simulator