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nervosys · Feb 17, 2024 · a0aa285 · a0aa285
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diff --git a/api/cpp/doctrees/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.doctree b/api/cpp/doctrees/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.doctree
diff --git a/...api/file_AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.doctree b/...api/file_AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.doctree
diff --git a/...pp/doctrees/api/program_listing_file_AutonomyLib_include_api_RpcLibClientBase.hpp.doctree b/...pp/doctrees/api/program_listing_file_AutonomyLib_include_api_RpcLibClientBase.hpp.doctree
diff --git a/...ctrees/api/program_listing_file_AutonomyLib_include_physics_PhysicsBodyVertex.hpp.doctree b/...ctrees/api/program_listing_file_AutonomyLib_include_physics_PhysicsBodyVertex.hpp.doctree
diff --git a/...sting_file_AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibClient.hpp.doctree b/...sting_file_AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibClient.hpp.doctree
diff --git a/api/cpp/doctrees/api/program_listing_file_AutonomyLib_src_safety_SafetyEval.cpp.doctree b/api/cpp/doctrees/api/program_listing_file_AutonomyLib_src_safety_SafetyEval.cpp.doctree
diff --git a/...rogram_listing_file_AutonomyLib_src_vehicles_multirotor_api_MultirotorApiBase.cpp.doctree b/...rogram_listing_file_AutonomyLib_src_vehicles_multirotor_api_MultirotorApiBase.cpp.doctree
diff --git a/api/cpp/doctrees/environment.pickle b/api/cpp/doctrees/environment.pickle
diff --git a/...p/html/_sources/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.rst.txt b/...p/html/_sources/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.rst.txt
@@ -135,8 +135,6 @@ Functions
 ---------
 
 
-- :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1a4f4b3060c8be9db77d0cbd4d342023ab`
-
 - :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1aa48460dda401d585625e850d035669c3`
 
 - :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1abb33b0231861928bba288833a2c05173`
@@ -145,3 +143,5 @@ Functions
 
 - :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1afb001b2ca995cc726f581621db317400`
 
+- :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1a4f4b3060c8be9db77d0cbd4d342023ab`
+
diff --git a/...utonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.rst.txt b/...utonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.rst.txt
@@ -91,7 +91,7 @@ Functions
 ---------
 
 
-- :ref:`exhale_function_MultirotorRpcLibAdaptors_8hpp_1a4ad96bb0b0fd837d8132bf284f81932c`
-
 - :ref:`exhale_function_MultirotorRpcLibAdaptors_8hpp_1abfcd08d1e6f1840d131bdd83c3ace4eb`
 
+- :ref:`exhale_function_MultirotorRpcLibAdaptors_8hpp_1a4ad96bb0b0fd837d8132bf284f81932c`
+
diff --git a/...s/api/program_listing_file_AutonomyLib_include_api_RpcLibClientBase.hpp.rst.txt b/...s/api/program_listing_file_AutonomyLib_include_api_RpcLibClientBase.hpp.rst.txt
@@ -116,17 +116,18 @@ Program Listing for File RpcLibClientBase.hpp
        bool simRunConsoleCommand(const std::string &command);
    
        // sensor APIs
-       nervosys::autonomylib::LidarData getLidarData(const std::string &lidar_name = "", const std::string &vehicle_name = "") const;
+       nervosys::autonomylib::LidarData getLidarData(const std::string &lidar_name = "",
+                                                     const std::string &vehicle_name = "") const;
        nervosys::autonomylib::ImuBase::Output getImuData(const std::string &imu_name = "",
-                                               const std::string &vehicle_name = "") const;
+                                                         const std::string &vehicle_name = "") const;
        nervosys::autonomylib::BarometerBase::Output getBarometerData(const std::string &barometer_name = "",
-                                                           const std::string &vehicle_name = "") const;
+                                                                     const std::string &vehicle_name = "") const;
        nervosys::autonomylib::MagnetometerBase::Output getMagnetometerData(const std::string &magnetometer_name = "",
-                                                                 const std::string &vehicle_name = "") const;
+                                                                           const std::string &vehicle_name = "") const;
        nervosys::autonomylib::GpsBase::Output getGpsData(const std::string &gps_name = "",
-                                               const std::string &vehicle_name = "") const;
+                                                         const std::string &vehicle_name = "") const;
        nervosys::autonomylib::DistanceSensorData getDistanceSensorData(const std::string &distance_sensor_name = "",
-                                                             const std::string &vehicle_name = "") const;
+                                                                       const std::string &vehicle_name = "") const;
    
        Pose simGetVehiclePose(const std::string &vehicle_name = "") const;
        void simSetVehiclePose(const Pose &pose, bool ignore_collision, const std::string &vehicle_name = "");
@@ -173,7 +174,8 @@ Program Listing for File RpcLibClientBase.hpp
                                             bool external = false);
        // end CinemAutonomySim
        bool simTestLineOfSightToPoint(const nervosys::autonomylib::GeoPoint &point, const std::string &vehicle_name = "");
-       bool simTestLineOfSightBetweenPoints(const nervosys::autonomylib::GeoPoint &point1, const nervosys::autonomylib::GeoPoint &point2);
+       bool simTestLineOfSightBetweenPoints(const nervosys::autonomylib::GeoPoint &point1,
+                                            const nervosys::autonomylib::GeoPoint &point2);
        vector<nervosys::autonomylib::GeoPoint> simGetWorldExtents();
    
        vector<MeshPositionVertexBuffersResponse> simGetMeshPositionVertexBuffers();

diff --git a/.../program_listing_file_AutonomyLib_include_physics_FastPhysicsEngine.hpp.rst.txt b/.../program_listing_file_AutonomyLib_include_physics_FastPhysicsEngine.hpp.rst.txt
@@ -162,7 +162,7 @@ Program Listing for File FastPhysicsEngine.hpp
                // mean we are coliding with the ground???
                // || Utils::isApproximatelyEqual(std::abs(normal_body.x()), 1.0f, kAxisTolerance)
                // || Utils::isApproximatelyEqual(std::abs(normal_body.y()), 1.0f, kAxisTolerance)
-               
+   
                // looks like we are coliding with the ground.  We don't want the ground to be so bouncy
                // so we reduce the coefficient of restitution.  0 means no bounce.
                // TODO: it would be better if we did this based on the material we are landing on.

diff --git a/.../program_listing_file_AutonomyLib_include_physics_PhysicsBodyVertex.hpp.rst.txt b/.../program_listing_file_AutonomyLib_include_physics_PhysicsBodyVertex.hpp.rst.txt
@@ -35,7 +35,7 @@ Program Listing for File PhysicsBodyVertex.hpp
        real_T getDragFactor() const { return drag_factor_; }
        void setDragFactor(real_T val) { drag_factor_ = val; }
    
-       PhysicsBodyVertex() {}  // allow default constructor with later call for initialize
+       PhysicsBodyVertex() {} // allow default constructor with later call for initialize
        PhysicsBodyVertex(const Vector3r &position, const Vector3r &normal, real_T drag_factor = 0) {
            initialize(position, normal, drag_factor);
        }

diff --git a/...am_listing_file_AutonomyLib_include_sensors_lidar_LidarSimpleParams.hpp.rst.txt b/...am_listing_file_AutonomyLib_include_sensors_lidar_LidarSimpleParams.hpp.rst.txt
@@ -68,7 +68,7 @@ Program Listing for File LidarSimpleParams.hpp
            } else {
                throw std::runtime_error("Unknown requested data frame");
            }
-           
+   
            external_controller = settings_json.getBool("ExternalController", external_controller);
            vertical_FOV_upper = settings_json.getFloat("VerticalFOVUpper", Utils::nan<float>());
    

diff --git a/...ng_file_AutonomyLib_include_sensors_magnetometer_MagnetometerSimple.hpp.rst.txt b/...ng_file_AutonomyLib_include_sensors_magnetometer_MagnetometerSimple.hpp.rst.txt
@@ -88,7 +88,7 @@ Program Listing for File MagnetometerSimple.hpp
                throw std::invalid_argument("magnetic reference source type is not recognized");
            }
        }
-       
+   
        Output getOutputInternal() {
            Output output;
            const GroundTruth &ground_truth = getGroundTruth();

diff --git a/..._AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibClient.hpp.rst.txt b/..._AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibClient.hpp.rst.txt
@@ -44,8 +44,8 @@ Program Listing for File MultirotorRpcLibClient.hpp
                                                             DrivetrainType drivetrain = DrivetrainType::MaxDegreeOfFreedom,
                                                             const YawMode &yaw_mode = YawMode(),
                                                             const std::string &vehicle_name = "");
-       MultirotorRpcLibClient
-       *moveByVelocityZBodyFrameAsync(float vx, float vy, float z, float duration,
+       MultirotorRpcLibClient *
+       moveByVelocityZBodyFrameAsync(float vx, float vy, float z, float duration,
                                      DrivetrainType drivetrain = DrivetrainType::MaxDegreeOfFreedom,
                                      const YawMode &yaw_mode = YawMode(), const std::string &vehicle_name = "");
        MultirotorRpcLibClient *moveByMotorPWMsAsync(float front_right_pwm, float rear_left_pwm, float front_left_pwm,

diff --git a/..._sources/api/program_listing_file_AutonomyLib_src_safety_SafetyEval.cpp.rst.txt b/..._sources/api/program_listing_file_AutonomyLib_src_safety_SafetyEval.cpp.rst.txt
@@ -101,7 +101,9 @@ Program Listing for File SafetyEval.cpp
        // is this dest_pos cur_pos within the fence?
        checkFence(dest_pos, cur_pos, result);
    
-       if (!(enable_reasons_ & SafetyViolationType_::Obstacle)) { return; }
+       if (!(enable_reasons_ & SafetyViolationType_::Obstacle)) {
+           return;
+       }
    
        // transform dest_pos vector to body frame
        const Vector3r cur_dest = dest_pos - cur_pos;
@@ -159,7 +161,9 @@ Program Listing for File SafetyEval.cpp
    
    void SafetyEval::setSuggestedVelocity(SafetyEval::EvalResult &result, const Quaternionr &quaternion) {
        result.suggested_vec = Vector3r::Zero(); // default suggestion
-       if (obs_strategy_ == ObsAvoidanceStrategy::RaiseException) { return; }
+       if (obs_strategy_ == ObsAvoidanceStrategy::RaiseException) {
+           return;
+       }
    
        int ref_tick;
        int ticks = obs_xy_ptr_->getTicks();
@@ -172,7 +176,7 @@ Program Listing for File SafetyEval.cpp
            ref_tick = 0; // default doesn't matter as we will raise exception
        }
    
-       for (int i = 0; i <= ticks/2; ++i) {
+       for (int i = 0; i <= ticks / 2; ++i) {
            // evaluate right and left side of circle
            ObstacleMap::ObstacleInfo right_obs = obs_xy_ptr_->hasObstacle(ref_tick + i, ref_tick + i);
            ObstacleMap::ObstacleInfo left_obs = obs_xy_ptr_->hasObstacle(ref_tick - i, ref_tick - i);

diff --git a/...ting_file_AutonomyLib_src_vehicles_multirotor_api_MultirotorApiBase.cpp.rst.txt b/...ting_file_AutonomyLib_src_vehicles_multirotor_api_MultirotorApiBase.cpp.rst.txt
@@ -88,7 +88,9 @@ Program Listing for File MultirotorApiBase.cpp
                                                    const YawMode &yaw_mode) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        float pitch, roll, yaw;
        VectorMath::toEulerianAngle(getKinematicsEstimated().pose.orientation, pitch, roll, yaw);
@@ -111,7 +113,9 @@ Program Listing for File MultirotorApiBase.cpp
                                                     const YawMode &yaw_mode) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        float pitch, roll, yaw;
        VectorMath::toEulerianAngle(getKinematicsEstimated().pose.orientation, pitch, roll, yaw);
@@ -134,7 +138,9 @@ Program Listing for File MultirotorApiBase.cpp
                                            float rear_right_pwm, float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        return waitForFunction(
                   [&]() {
@@ -148,7 +154,9 @@ Program Listing for File MultirotorApiBase.cpp
    bool MultirotorApiBase::moveByRollPitchYawZ(float roll, float pitch, float yaw, float z, float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        return waitForFunction(
                   [&]() {
@@ -162,7 +170,9 @@ Program Listing for File MultirotorApiBase.cpp
    bool MultirotorApiBase::moveByRollPitchYawThrottle(float roll, float pitch, float yaw, float throttle, float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        return waitForFunction(
                   [&]() {
@@ -177,7 +187,9 @@ Program Listing for File MultirotorApiBase.cpp
                                                           float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        return waitForFunction(
                   [&]() {
@@ -191,7 +203,9 @@ Program Listing for File MultirotorApiBase.cpp
    bool MultirotorApiBase::moveByRollPitchYawrateZ(float roll, float pitch, float yaw_rate, float z, float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        return waitForFunction(
                   [&]() {
@@ -205,7 +219,9 @@ Program Listing for File MultirotorApiBase.cpp
    bool MultirotorApiBase::moveByAngleRatesZ(float roll_rate, float pitch_rate, float yaw_rate, float z, float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        return waitForFunction(
                   [&]() {
@@ -220,7 +236,9 @@ Program Listing for File MultirotorApiBase.cpp
                                                     float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        return waitForFunction(
                   [&]() {
@@ -235,7 +253,9 @@ Program Listing for File MultirotorApiBase.cpp
                                           const YawMode &yaw_mode) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        YawMode adj_yaw_mode(yaw_mode.is_rate, yaw_mode.yaw_or_rate);
        adjustYaw(vx, vy, drivetrain, adj_yaw_mode);
@@ -253,7 +273,9 @@ Program Listing for File MultirotorApiBase.cpp
                                            const YawMode &yaw_mode) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return false; }
+       if (duration <= 0) {
+           return false;
+       }
    
        YawMode adj_yaw_mode(yaw_mode.is_rate, yaw_mode.yaw_or_rate);
        adjustYaw(vx, vy, drivetrain, adj_yaw_mode);
@@ -354,7 +376,7 @@ Program Listing for File MultirotorApiBase.cpp
            float seg_velocity = path_segs.at(next_path_loc.seg_index).seg_velocity;
            float path_length_remaining =
                path_length - path_segs.at(cur_path_loc.seg_index).seg_path_length - cur_path_loc.offset;
-           
+   
            if (seg_velocity > getMultirotorApiParams().min_vel_for_breaking && path_length_remaining <= breaking_dist) {
                seg_velocity = getMultirotorApiParams().breaking_vel;
                // Utils::logMessage("path_length_remaining = %f, Switched to breaking vel %f", path_length_remaining,
@@ -366,7 +388,9 @@ Program Listing for File MultirotorApiBase.cpp
                               path_segs.at(cur_path_loc.seg_index).start_z);
    
            // sleep for rest of the cycle
-           if (!waiter.sleep()) { return false; }
+           if (!waiter.sleep()) {
+               return false;
+           }
    
            /*  Below, P is previous position on path, N is next goal and C is our current position.
    
@@ -493,9 +517,11 @@ Program Listing for File MultirotorApiBase.cpp
    bool MultirotorApiBase::moveByManual(float vx_max, float vy_max, float z_min, float duration, DrivetrainType drivetrain,
                                         const YawMode &yaw_mode) {
        SingleTaskCall lock(this);
-       const float kMaxMessageAge = 0.1f  // 0.1 sec
-       const float kMaxRCValue = 10000f;
-       if (duration <= 0) { return true; }
+       const float kMaxMessageAge = 0.1f // 0.1 sec
+           const float kMaxRCValue = 10000f;
+       if (duration <= 0) {
+           return true;
+       }
    
        // freeze the quaternion
        Quaternionr starting_quaternion = getKinematicsEstimated().pose.orientation;
@@ -537,7 +563,9 @@ Program Listing for File MultirotorApiBase.cpp
    bool MultirotorApiBase::rotateToYaw(float yaw, float timeout_sec, float margin) {
        SingleTaskCall lock(this);
    
-       if (timeout_sec <= 0) { return true; }
+       if (timeout_sec <= 0) {
+           return true;
+       }
    
        auto start_pos = getPosition();
        float yaw_target = VectorMath::normalizeAngle(yaw);
@@ -566,7 +594,9 @@ Program Listing for File MultirotorApiBase.cpp
    bool MultirotorApiBase::rotateByYawRate(float yaw_rate, float duration) {
        SingleTaskCall lock(this);
    
-       if (duration <= 0) { return true; }
+       if (duration <= 0) {
+           return true;
+       }
    
        auto start_pos = getPosition();
        YawMode yaw_mode(true, yaw_rate);
@@ -761,12 +791,12 @@ Program Listing for File MultirotorApiBase.cpp
    
        // send commands
        // try to maintain altitude if path was in XY plan only, velocity based control is not as good
-       if (std::abs(cur.z() - dest.z()) <= getDistanceAccuracy()) { // for paths in XY plan current code leaves z untouched,
-                                                                    // so we can compare with strict equality
+       if (std::abs(cur.z() - dest.z()) <= getDistanceAccuracy()) { // for paths in XY plan current code leaves z
+                                                                    // untouched, so we can compare with strict equality
            moveByVelocityInternal(velocity_vect.x(), velocity_vect.y(), 0, yaw_mode);
-        } else {
+       } else {
            moveByVelocityInternal(velocity_vect.x(), velocity_vect.y(), velocity_vect.z(), yaw_mode);
-        }
+       }
    }
    
    bool MultirotorApiBase::setSafety(SafetyEval::SafetyViolationType enable_reasons, float obs_clearance,
@@ -812,19 +842,25 @@ Program Listing for File MultirotorApiBase.cpp
    }
    
    bool MultirotorApiBase::safetyCheckVelocity(const Vector3r &velocity) {
-       if (safety_eval_ptr_ == nullptr) { return true; } // safety checks disabled
+       if (safety_eval_ptr_ == nullptr) {
+           return true;
+       } // safety checks disabled
    
        const auto &result = safety_eval_ptr_->isSafeVelocity(getPosition(), velocity, getOrientation());
        return emergencyManeuverIfUnsafe(result);
    }
    bool MultirotorApiBase::safetyCheckVelocityZ(float vx, float vy, float z) {
-       if (safety_eval_ptr_ == nullptr) { return true; } // safety checks disabled
+       if (safety_eval_ptr_ == nullptr) {
+           return true;
+       } // safety checks disabled
    
        const auto &result = safety_eval_ptr_->isSafeVelocityZ(getPosition(), vx, vy, z, getOrientation());
        return emergencyManeuverIfUnsafe(result);
    }
    bool MultirotorApiBase::safetyCheckDestination(const Vector3r &dest_pos) {
-       if (safety_eval_ptr_ == nullptr) { return true; } // safety checks disabled
+       if (safety_eval_ptr_ == nullptr) {
+           return true;
+       } // safety checks disabled
    
        const auto &result = safety_eval_ptr_->isSafeDestination(getPosition(), dest_pos, getOrientation());
        return emergencyManeuverIfUnsafe(result);

diff --git a/api/cpp/html/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.html b/api/cpp/html/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.html
@@ -339,11 +339,11 @@ <h2 id="classes">Classes<a class="headerlink" href="#classes" title="Link to thi
 </ul>
 <h2 id="functions">Functions<a class="headerlink" href="#functions" title="Link to this heading">¶</a></h2>
 <ul class="simple">
-<li><p><a class="reference internal" href="function_RpcLibAdaptorsBase_8hpp_1a4f4b3060c8be9db77d0cbd4d342023ab.html#exhale-function-rpclibadaptorsbase-8hpp-1a4f4b3060c8be9db77d0cbd4d342023ab"><span class="std std-ref">Function MSGPACK_ADD_ENUM(nervosys::autonomylib::SafetyEval::ObsAvoidanceStrategy)</span></a></p></li>
 <li><p><a class="reference internal" href="function_RpcLibAdaptorsBase_8hpp_1aa48460dda401d585625e850d035669c3.html#exhale-function-rpclibadaptorsbase-8hpp-1aa48460dda401d585625e850d035669c3"><span class="std std-ref">Function MSGPACK_ADD_ENUM(nervosys::autonomylib::SafetyEval::SafetyViolationType_)</span></a></p></li>
 <li><p><a class="reference internal" href="function_RpcLibAdaptorsBase_8hpp_1abb33b0231861928bba288833a2c05173.html#exhale-function-rpclibadaptorsbase-8hpp-1abb33b0231861928bba288833a2c05173"><span class="std std-ref">Function MSGPACK_ADD_ENUM(nervosys::autonomylib::WorldSimApiBase::WeatherParameter)</span></a></p></li>
 <li><p><a class="reference internal" href="function_RpcLibAdaptorsBase_8hpp_1a46cd14d414e8fc72032ef2edc817fca7.html#exhale-function-rpclibadaptorsbase-8hpp-1a46cd14d414e8fc72032ef2edc817fca7"><span class="std std-ref">Function MSGPACK_ADD_ENUM(nervosys::autonomylib::GpsBase::GnssFixType)</span></a></p></li>
 <li><p><a class="reference internal" href="function_RpcLibAdaptorsBase_8hpp_1afb001b2ca995cc726f581621db317400.html#exhale-function-rpclibadaptorsbase-8hpp-1afb001b2ca995cc726f581621db317400"><span class="std std-ref">Function MSGPACK_ADD_ENUM(nervosys::autonomylib::ImageCaptureBase::ImageType)</span></a></p></li>
+<li><p><a class="reference internal" href="function_RpcLibAdaptorsBase_8hpp_1a4f4b3060c8be9db77d0cbd4d342023ab.html#exhale-function-rpclibadaptorsbase-8hpp-1a4f4b3060c8be9db77d0cbd4d342023ab"><span class="std std-ref">Function MSGPACK_ADD_ENUM(nervosys::autonomylib::SafetyEval::ObsAvoidanceStrategy)</span></a></p></li>
 </ul>