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ami-iit · Jul 26, 2024 · b75b750 · b75b750
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commit b75b750
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Showing 16 changed files with 18 additions and 3 deletions.
diff --git a/cmake/AddBipedalLocomotionYARPDevice.cmake b/cmake/AddBipedalLocomotionYARPDevice.cmake
@@ -73,3 +73,4 @@ function(add_bipedal_yarp_device)
   endif()
 
 endfunction()
+
diff --git a/cmake/BipedalLocomotionDependencyClassifier.cmake b/cmake/BipedalLocomotionDependencyClassifier.cmake
@@ -39,3 +39,4 @@ function(dependency_classifier package)
   endif()
 
 endfunction()
+
diff --git a/cmake/BipedalLocomotionFrameworkFindDependencies.cmake b/cmake/BipedalLocomotionFrameworkFindDependencies.cmake
@@ -124,3 +124,4 @@ macro(FRAMEWORK_DEPENDENT_OPTION _option _doc _default _deps _force)
   endif()
 
 endmacro()
+
diff --git a/devices/JointTorqueControlDevice/CMakeLists.txt b/devices/JointTorqueControlDevice/CMakeLists.txt
@@ -30,3 +30,4 @@ if(FRAMEWORK_COMPILE_JointTorqueControlDevice)
       ${iDynTree_LIBRARIES}
       CONFIGURE_PACKAGE_NAME joint_torque_control_device)
 endif()
+
diff --git a/devices/JointTorqueControlDevice/README.md b/devices/JointTorqueControlDevice/README.md
@@ -42,4 +42,5 @@ To run the device on a robot make sure to define the configuration files for the
   - launch `JointTorqueControlDevice`
     ```
     YARP_ROBOT_NAME=ergoCubSN001 yarprobotinterface --config launch-joint-torque-control.xml
-    ```
+    ```
+
diff --git a/devices/JointTorqueControlDevice/app/CMakeLists.txt b/devices/JointTorqueControlDevice/app/CMakeLists.txt
@@ -8,3 +8,4 @@ subdirlist(subdirs ${CMAKE_CURRENT_SOURCE_DIR}/robots/)
 foreach (dir ${subdirs})
   yarp_install(DIRECTORY robots/${dir} DESTINATION ${YARP_ROBOTS_INSTALL_DIR})
 endforeach ()
+
diff --git a/devices/JointTorqueControlDevice/example/jtcvcExample.xml b/devices/JointTorqueControlDevice/example/jtcvcExample.xml
@@ -74,3 +74,4 @@ BSD-3-Clause license. -->
     </device>
 
 </robot>
+
diff --git a/devices/JointTorqueControlDevice/example/yarpmotorgui.ini b/devices/JointTorqueControlDevice/example/yarpmotorgui.ini
@@ -1 +1,2 @@
 names ("/jtcvc_example/original")
+
diff --git a/devices/JointTorqueControlDevice/example/yarpmotorgui_hijacked.ini b/devices/JointTorqueControlDevice/example/yarpmotorgui_hijacked.ini
@@ -1,2 +1,2 @@
-names ("/ergocub/hijacked")
-#names ("/jtcvc_example/hijacked")
+names ("/jtcvc_example/hijacked")
+
diff --git a/devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h b/devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h
@@ -272,3 +272,4 @@ class BipedalLocomotion::JointTorqueControlDevice
 };
 
 #endif // BIPEDAL_LOCOMOTION_FRAMEWORK_JOINT_TORQUE_CONTROL_DEVICE_H
+
diff --git a/devices/JointTorqueControlDevice/include/BipedalLocomotion/PINNFrictionEstimator.h b/devices/JointTorqueControlDevice/include/BipedalLocomotion/PINNFrictionEstimator.h
@@ -61,3 +61,4 @@ class PINNFrictionEstimator
 };
 
 #endif // BIPEDAL_LOCOMOTION_FRAMEWORK_PINN_FRICTION_ESTIMATOR_H
+
diff --git a/devices/JointTorqueControlDevice/include/BipedalLocomotion/PassThroughControlBoard.h b/devices/JointTorqueControlDevice/include/BipedalLocomotion/PassThroughControlBoard.h
@@ -293,3 +293,4 @@ class BipedalLocomotion::PassThroughControlBoard : public yarp::dev::DeviceDrive
 };
 
 #endif /* CODYCO_PASS_THROUGHT_CONTROL_BOARD_H */
+
diff --git a/devices/JointTorqueControlDevice/src/JointTorqueControlDevice.cpp b/devices/JointTorqueControlDevice/src/JointTorqueControlDevice.cpp
@@ -1203,3 +1203,4 @@ void JointTorqueControlDevice::controlLoop()
 
     timeOfLastControlLoop = BipedalLocomotion::clock().now();;
 }
+
diff --git a/devices/JointTorqueControlDevice/src/PINNFrictionEstimator.cpp b/devices/JointTorqueControlDevice/src/PINNFrictionEstimator.cpp
@@ -189,3 +189,4 @@ bool PINNFrictionEstimator::estimate(double inputDeltaPosition,
 
     return true;
 }
+
diff --git a/devices/JointTorqueControlDevice/src/PassThroughControlBoard.cpp b/devices/JointTorqueControlDevice/src/PassThroughControlBoard.cpp
@@ -1521,3 +1521,4 @@ bool PassThroughControlBoard::getVelLimits(int axis, double* min, double* max)
     }
     return proxyIControlLimits->getVelLimits(axis, min, max);
 }
+
diff --git a/devices/JointTorqueControlDevice/thrifts/JointTorqueControlCommands.thrift b/devices/JointTorqueControlDevice/thrifts/JointTorqueControlCommands.thrift
@@ -20,3 +20,4 @@ service JointTorqueControlCommands
 
     string getFrictionModel(1:string jointName);
 }
+