[Fix] Solve multiple ik_geo header inclusions by adding '#pragma once'.

Verdant-Evolution · Nov 18, 2024 · 1415c93 · 1415c93
1 parent a626ce5
commit 1415c93
Showing 1 changed file with 14 additions and 19 deletions.
diff --git a/include/ik_geo.h b/include/ik_geo.h
@@ -1,3 +1,4 @@
+#pragma once
 
 #include <array>
 #include <vector>
@@ -8,10 +9,13 @@ extern "C" {
 struct Robot;
 void deallocate(Robot *robot);
 Robot *gen_six_dof(const double *h, const double *p);
-void ik(const Robot *robot, const double *rotation, const double *translation,
-        std::size_t *n_solutions, double *qs, bool *is_ls);
-void fk(const Robot *robot, const double *qs, double *rot_matrix,
-        double *pos_vector);
+void ik(const Robot *robot,
+        const double *rotation,
+        const double *translation,
+        std::size_t *n_solutions,
+        double *qs,
+        bool *is_ls);
+void fk(const Robot *robot, const double *qs, double *rot_matrix, double *pos_vector);
 Robot *irb6640();
 Robot *spherical(const double *h, const double *p);
 Robot *spherical_bot();
@@ -44,33 +48,25 @@ class Robot {
   static Robot spherical_bot() { return Robot(lib::spherical_bot()); }
   static Robot three_parallel_bot() { return Robot(lib::three_parallel_bot()); }
   static Robot ur5() { return Robot(lib::ur5()); }
-  static Robot spherical(const double *h, const double *p) {
-    return Robot(lib::spherical(h, p));
-  }
+  static Robot spherical(const double *h, const double *p) { return Robot(lib::spherical(h, p)); }
   static Robot spherical_two_intersecting(const double *h, const double *p) {
     return Robot(lib::spherical_two_intersecting(h, p));
   }
   static Robot spherical_two_parallel(const double *h, const double *p) {
     return Robot(lib::spherical_two_parallel(h, p));
   }
-  static Robot three_parallel(const double *h, const double *p) {
-    return Robot(lib::three_parallel(h, p));
-  }
-  static Robot three_parallel_two_intersecting(const double *h,
-                                               const double *p) {
+  static Robot three_parallel(const double *h, const double *p) { return Robot(lib::three_parallel(h, p)); }
+  static Robot three_parallel_two_intersecting(const double *h, const double *p) {
     return Robot(lib::three_parallel_two_intersecting(h, p));
   }
-  static Robot two_intersecting(const double *h, const double *p) {
-    return Robot(lib::two_intersecting(h, p));
-  }
+  static Robot two_intersecting(const double *h, const double *p) { return Robot(lib::two_intersecting(h, p)); }
 
   /// @brief
   /// @param rotation - Row-major 3x3 rotation matrix
   /// @param translation - 3D translation vector
   /// @param solutions - Vector of all found solutions and whether or not they
   /// are exact.
-  void ik(const double *rotation, const double *translation,
-          std::vector<Solution> &solutions) {
+  void ik(const double *rotation, const double *translation, std::vector<Solution> &solutions) {
     const std::size_t MAX_SOLUTIONS = 16;
     double qs[6 * MAX_SOLUTIONS];
     bool is_ls[MAX_SOLUTIONS];
@@ -88,8 +84,7 @@ class Robot {
     }
   }
 
-  void fk(const std::array<double, 6> &q, std::array<double, 9> &rotation,
-          std::array<double, 3> &translation) {
+  void fk(const std::array<double, 6> &q, std::array<double, 9> &rotation, std::array<double, 3> &translation) {
     lib::fk(robot, q.data(), rotation.data(), translation.data());
   }
 };