Formatting the code.

Author: SylvainBertrand

example-simulations/src/main/java/us/ihmc/exampleSimulations/yoFilteredDouble/emptyRobotSCS/YoFilteredDoubleController.java

@@ -4,32 +4,34 @@
 import us.ihmc.simulationconstructionset.SimulationConstructionSet;
 import us.ihmc.yoVariables.registry.YoRegistry;
 
-public class YoFilteredDoubleSimulation {
-	
-	private YoRegistry registry;
-	private double dt_ns = 1000000.0; // 100 Hz 
-	
-	public YoFilteredDoubleSimulation() {
-		
-		// 1.0 Create YoRegistry to store YoFiltered Doubles in for the simulation.
-		registry = new YoRegistry("yoFilteredDoubleTest");
-		
-		Robot robot = new Robot("EmptyRobot");
-		SimulationConstructionSet scs = new SimulationConstructionSet();
-		YoFilteredDoubleController controller = new YoFilteredDoubleController(registry, dt_ns);
-		robot.setController(controller);
-		scs.setRobot(robot);
-		scs.setDT(dt_ns/1000000000.0, 1);
-		scs.changeBufferSize(16342*10);
-		scs.hideViewport(); 
-		scs.setFastSimulate(true, 10);
-		scs.setSimulateNoFasterThanRealTime(true); 
-		scs.startOnAThread();
-	}
-	
-	public static void main(String[] args)
-	{
-		YoFilteredDoubleSimulation sim = new YoFilteredDoubleSimulation();
-	}
+public class YoFilteredDoubleSimulation
+{
+
+   private YoRegistry registry;
+   private double dt_ns = 1000000.0; // 100 Hz
+
+   public YoFilteredDoubleSimulation()
+   {
+
+      // 1.0 Create YoRegistry to store YoFiltered Doubles in for the simulation.
+      registry = new YoRegistry("yoFilteredDoubleTest");
+
+      Robot robot = new Robot("EmptyRobot");
+      SimulationConstructionSet scs = new SimulationConstructionSet();
+      YoFilteredDoubleController controller = new YoFilteredDoubleController(registry, dt_ns);
+      robot.setController(controller);
+      scs.setRobot(robot);
+      scs.setDT(dt_ns / 1000000000.0, 1);
+      scs.changeBufferSize(16342 * 10);
+      scs.hideViewport();
+      scs.setFastSimulate(true, 10);
+      scs.setSimulateNoFasterThanRealTime(true);
+      scs.startOnAThread();
+   }
+
+   public static void main(String[] args)
+   {
+      YoFilteredDoubleSimulation sim = new YoFilteredDoubleSimulation();
+   }
 }
 

example-simulations/src/main/java/us/ihmc/exampleSimulations/yoFilteredDouble/emptyRobotSCS/YoFilteredDoubleSimulation.java

@@ -4,8 +4,6 @@
 import us.ihmc.robotics.math.filters.ContinuousTransferFunction;
 import us.ihmc.robotics.math.filters.TransferFunctionDiscretizer;
 import us.ihmc.robotics.math.filters.YoFilteredDouble;
-import us.ihmc.robotics.math.trajectories.generators.TrajectoryGenerator;
-import us.ihmc.robotics.math.trajectories.generators.TrajectoryGenerator.Trajectory;
 import us.ihmc.scs2.definition.controller.ControllerInput;
 import us.ihmc.scs2.definition.controller.ControllerOutput;
 import us.ihmc.scs2.definition.controller.interfaces.Controller;
@@ -33,19 +31,19 @@ public class SimplePendulumController implements Controller
 
    // This is the desired torque that we will apply to the fulcrum joint (PinJoint)
    private double torque;
-   
-	// PID Parameters
-	private final double Kp 	= 250.0;
-	private final double Ki 	= 10.0;
-	private final double Kd 	= 100.0;
-	private final double Tau 	= 0.35;
-	
-	// Notch Filter Parameters
-	private final double wn 	= 60*2*Math.PI;
-	private final double Q 		= 1.0;
-	
-	// Controller Frequency
-	private YoFilteredDouble Controller_Var; 				// PID Controller Double
+
+   // PID Parameters
+   private final double Kp = 250.0;
+   private final double Ki = 10.0;
+   private final double Kd = 100.0;
+   private final double Tau = 0.35;
+
+   // Notch Filter Parameters
+   private final double wn = 60 * 2 * Math.PI;
+   private final double Q = 1.0;
+
+   // Controller Frequency
+   private YoFilteredDouble Controller_Var;            // PID Controller Double
 
    // Constructor: Where we instantiate and initialize control variables
    public SimplePendulumController(ControllerInput controllerInput, ControllerOutput controllerOutput)
@@ -56,18 +54,18 @@ public SimplePendulumController(ControllerInput controllerInput, ControllerOutpu
       // Get the objects of the fulcrum joint to read input and write output in the control loop
       this.fulcrumJoint = (OneDoFJointReadOnly) controllerInput.getInput().findJoint(SimplePendulumDefinition.jointName);
       this.fulcrumJointCommand = controllerOutput.getOneDoFJointOutput(fulcrumJoint);
-      
+
       // Set up PID Transfer Function and use TransferFunctionDiscretizer to solve for the discrete TF coefficients.
-      ContinuousTransferFunction PID_TF 			=  	new ContinuousTransferFunction("PID",
-    		  																			1.0, 
-    		  																			new double[] {(Kp + Tau*Kd), (Tau*Kp + Ki), Ki*Tau},
-    		  																			new double[] { 1.0, Tau, 0.0});
-      
-	  // Discretize the PID TF into a filter for a YoFilteredDouble
-	  TransferFunctionDiscretizer PID_Filter 	= new TransferFunctionDiscretizer(PID_TF, 1/SimplePendulumSimulation.DT);
-	  
-	  // Pass the Filter into the a YoFilteredDouble object with safe startup active.
-	  Controller_Var 	= new YoFilteredDouble("Controller_Var", registry, PID_Filter, true);      
+      ContinuousTransferFunction PID_TF = new ContinuousTransferFunction("PID",
+                                                                         1.0,
+                                                                         new double[] {(Kp + Tau * Kd), (Tau * Kp + Ki), Ki * Tau},
+                                                                         new double[] {1.0, Tau, 0.0});
+
+      // Discretize the PID TF into a filter for a YoFilteredDouble
+      TransferFunctionDiscretizer PID_Filter = new TransferFunctionDiscretizer(PID_TF, 1 / SimplePendulumSimulation.DT);
+
+      // Pass the Filter into the a YoFilteredDouble object with safe startup active.
+      Controller_Var = new YoFilteredDouble("Controller_Var", registry, PID_Filter, true);
    }
 
    @Override
@@ -76,20 +74,20 @@ public void initialize()
    }
 
    private double positionError = 0;
-   
+
    @Override
    public void doControl()
    {
       // ERROR term: Compute the difference between the desired position the pendulum
       // and its current position	  
-	  positionError = desiredPositionRadians.getDoubleValue() - fulcrumJoint.getQ();
+      positionError = desiredPositionRadians.getDoubleValue() - fulcrumJoint.getQ();
 
       // Pass the error term into the input of the filter.
       Controller_Var.set(positionError);
-      
+
       // Retrieve the filter output as the new torque command.
       torque = Controller_Var.getFilteredValue();
-      
+
       // Set the desired torque for the fulcrum joint as controller output
       this.fulcrumJointCommand.setEffort(torque);
    }
@@ -105,5 +103,4 @@ public String getName()
    {
       return name;
    }
-
 }

example-simulations/src/main/java/us/ihmc/exampleSimulations/yoFilteredDouble/simplePendulumSCS2/SimplePendulumController.java

@@ -144,5 +144,4 @@ private RigidBodyDefinition createPendulumLink(String name,
 
       return pendulumLink;
    }
-
 }

example-simulations/src/main/java/us/ihmc/exampleSimulations/yoFilteredDouble/simplePendulumSCS2/SimplePendulumDefinition.java

@@ -43,7 +43,6 @@ public SimplePendulumSimulation()
 
       // Launch the simulator
       scs.start(true, false, false);
-
    }
 
    public static void main(String[] args)