mirror of
https://github.com/CopterExpress/clover.git
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Add editorconfig-checker (#149)
* Add editorconfig-checker * Editorconfig-check fix * Remove temporal cat
This commit is contained in:
Oleg Kalachev
@@ -85,6 +85,14 @@ jobs:
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- pip install GitPython PyGithub
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script:
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- PYTHONUNBUFFERED=1 python ./gen_changelog.py
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- stage: Build
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name: Editorconfig-lint
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language: generic
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before_script:
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- wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
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- chmod +x ec-linux-amd64
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script:
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- ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt"
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stages:
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- Build
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- Annotate
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@@ -23,19 +23,18 @@ function throttle(func, ms) {
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}
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function postAppMessage(msg) {
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if (window.webkit != undefined) {
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if (window.webkit.messageHandlers.appInterface != undefined) {
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window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
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}
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}
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else if (window.appInterface != undefined) {
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window.appInterface.postMessage(JSON.stringify(msg));
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}
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if (window.webkit != undefined) {
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if (window.webkit.messageHandlers.appInterface != undefined) {
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window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
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}
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} else if (window.appInterface != undefined) {
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window.appInterface.postMessage(JSON.stringify(msg));
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}
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}
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function callNativeApp(name, msg) {
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try {
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postAppMessage(msg);
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postAppMessage(msg);
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return true;
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} catch(err) {
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console.warn('The native context does not exist yet');
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@@ -109,12 +108,12 @@ function stickTouchStart(e) {
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function stickTouchMove(e) {
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for (touch of e.changedTouches) {
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onStickTouchMove(touch);
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}
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//onStickTouchMove(e.changedTouches[0]);
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rcPublishThrottled();
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e.stopPropagation();
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e.preventDefault();
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onStickTouchMove(touch);
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}
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//onStickTouchMove(e.changedTouches[0]);
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rcPublishThrottled();
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e.stopPropagation();
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e.preventDefault();
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}
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function stickTouchEnd(e) {
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@@ -136,4 +135,4 @@ stickRight.addEventListener('touchmove', stickTouchMove);
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stickLeft.addEventListener('touchstart', stickTouchStart);
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stickRight.addEventListener('touchstart', stickTouchStart);
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stickLeft.addEventListener('touchend', stickTouchEnd);
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stickRight.addEventListener('touchend', stickTouchEnd);
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stickRight.addEventListener('touchend', stickTouchEnd);
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@@ -173,7 +173,7 @@ target_link_libraries(aruco_pose
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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@@ -120,70 +120,65 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
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/* Draw a (potentially partially visible) line. */
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static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
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int thickness = 1, int lineType = LINE_8, int shift = 0)
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int thickness = 1, int lineType = LINE_8, int shift = 0)
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{
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// If both points are behind the screen, don't draw anything
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if (p1.z <= 0 && p2.z <= 0)
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{
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return;
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}
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Point2f p1p{p1.x, p1.y};
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Point2f p2p{p2.x, p2.y};
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// If points are on the different sides of the plane, compute intersection point
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if (p1.z * p2.z < 0)
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{
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// Compute intersection point with the screen
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// We denote alpha as such:
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// xi = (1 - alpha) * x1 + alpha * x2
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// yi = (1 - alpha) * y1 + alpha * y2
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// zi = (1 - alpha) * z1 + alpha * z2 = 0
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// Thus, alpha can be expressed as
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// alpha = z1 / (z1 - z2)
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float alpha = p1.z / (p1.z - p2.z);
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Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
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// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
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if (p1.z < 0)
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{
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p1p = pi;
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}
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else
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{
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p2p = pi;
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}
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}
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line(image, p1p, p2p, color, thickness, lineType, shift);
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// If both points are behind the screen, don't draw anything
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if (p1.z <= 0 && p2.z <= 0) {
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return;
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}
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Point2f p1p{p1.x, p1.y};
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Point2f p2p{p2.x, p2.y};
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// If points are on the different sides of the plane, compute intersection point
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if (p1.z * p2.z < 0) {
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// Compute intersection point with the screen
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// We denote alpha as such:
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// xi = (1 - alpha) * x1 + alpha * x2
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// yi = (1 - alpha) * y1 + alpha * y2
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// zi = (1 - alpha) * z1 + alpha * z2 = 0
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// Thus, alpha can be expressed as
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// alpha = z1 / (z1 - z2)
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float alpha = p1.z / (p1.z - p2.z);
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Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
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// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
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if (p1.z < 0) {
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p1p = pi;
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} else {
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p2p = pi;
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}
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}
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line(image, p1p, p2p, color, thickness, lineType, shift);
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}
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void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
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InputArray _rvec, InputArray _tvec, float length) {
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CV_Assert(_image.getMat().total() != 0 &&
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(_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
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CV_Assert(length > 0);
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CV_Assert(_image.getMat().total() != 0 &&
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(_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
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CV_Assert(length > 0);
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// project axis points
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std::vector< Point3f > axisPoints;
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axisPoints.push_back(Point3f(0, 0, 0));
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axisPoints.push_back(Point3f(length, 0, 0));
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axisPoints.push_back(Point3f(0, length, 0));
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axisPoints.push_back(Point3f(0, 0, length));
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std::vector< Point3f > imagePointsZ;
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_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
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// project axis points
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std::vector<Point3f> axisPoints;
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axisPoints.push_back(Point3f(0, 0, 0));
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axisPoints.push_back(Point3f(length, 0, 0));
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axisPoints.push_back(Point3f(0, length, 0));
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axisPoints.push_back(Point3f(0, 0, length));
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std::vector<Point3f> imagePointsZ;
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_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
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// draw axis lines
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linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
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// draw axis lines
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linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
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linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
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}
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static CvMat _cvMat(const cv::Mat& m)
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{
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CvMat self;
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CV_DbgAssert(m.dims <= 2);
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self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
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self.step = (int)m.step[0];
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self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
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return self;
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CvMat self;
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CV_DbgAssert(m.dims <= 2);
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self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
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self.step = (int)m.step[0];
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self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
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return self;
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}
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static void _projectPoints( InputArray _opoints,
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@@ -195,47 +190,47 @@ static void _projectPoints( InputArray _opoints,
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OutputArray _jacobian,
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double aspectRatio )
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{
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Mat opoints = _opoints.getMat();
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int npoints = opoints.checkVector(3), depth = opoints.depth();
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CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
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Mat opoints = _opoints.getMat();
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int npoints = opoints.checkVector(3), depth = opoints.depth();
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CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
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CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
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CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0;
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CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
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CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
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CV_Assert( _ipoints.needed() );
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CV_Assert(_ipoints.needed());
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_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
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Mat imagePoints = _ipoints.getMat();
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CvMat c_imagePoints = _cvMat(imagePoints);
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CvMat c_objectPoints = _cvMat(opoints);
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Mat cameraMatrix = _cameraMatrix.getMat();
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_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
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Mat imagePoints = _ipoints.getMat();
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CvMat c_imagePoints = _cvMat(imagePoints);
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CvMat c_objectPoints = _cvMat(opoints);
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Mat cameraMatrix = _cameraMatrix.getMat();
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Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
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CvMat c_cameraMatrix = _cvMat(cameraMatrix);
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CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
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Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
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CvMat c_cameraMatrix = _cvMat(cameraMatrix);
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CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
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double dc0buf[5]={0};
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Mat dc0(5,1,CV_64F,dc0buf);
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Mat distCoeffs = _distCoeffs.getMat();
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if( distCoeffs.empty() )
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distCoeffs = dc0;
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CvMat c_distCoeffs = _cvMat(distCoeffs);
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int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
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double dc0buf[5] = {0};
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Mat dc0(5, 1, CV_64F, dc0buf);
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Mat distCoeffs = _distCoeffs.getMat();
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if (distCoeffs.empty())
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distCoeffs = dc0;
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CvMat c_distCoeffs = _cvMat(distCoeffs);
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int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
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Mat jacobian;
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if( _jacobian.needed() )
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{
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_jacobian.create(npoints*2, 3+3+2+2+ndistCoeffs, CV_64F);
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jacobian = _jacobian.getMat();
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pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
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pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
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pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
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pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
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pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10+ndistCoeffs)));
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}
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Mat jacobian;
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if (_jacobian.needed())
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{
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_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
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jacobian = _jacobian.getMat();
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pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
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pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
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pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
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pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
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pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
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}
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_cvProjectPoints2( &c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
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&c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio );
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_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
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&c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
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}
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namespace _detail
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@@ -4,6 +4,6 @@
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#include <opencv2/aruco.hpp>
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void _drawPlanarBoard(cv::aruco::Board *_board, cv::Size outSize, cv::OutputArray _img,
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int marginSize, int borderBits, bool drawAxis);
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int marginSize, int borderBits, bool drawAxis); // editorconfig-checker-disable-line
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void _drawAxis(cv::InputOutputArray image, cv::InputArray cameraMatrix, cv::InputArray distCoeffs,
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cv::InputArray rvec, cv::InputArray tvec, float length);
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cv::InputArray rvec, cv::InputArray tvec, float length); // editorconfig-checker-disable-line
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@@ -30,8 +30,7 @@ static void param(ros::NodeHandle nh, const std::string& param_name, T& param_va
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}
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}
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static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo,
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cv::Mat& matrix, cv::Mat& dist)
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static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo, cv::Mat& matrix, cv::Mat& dist)
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{
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for (unsigned int i = 0; i < 3; ++i)
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for (unsigned int j = 0; j < 3; ++j)
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@@ -287,7 +287,7 @@ def check_camera(name):
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if not optical or not cable:
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info('%s: custom camera orientation detected', name)
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else:
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info('camera is oriented %s, camera cable goes %s', optical, cable)
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info('camera is oriented %s, camera cable goes %s', optical, cable)
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except tf2_ros.TransformException:
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failure('cannot transform from base_link to camera frame')
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@@ -397,8 +397,8 @@ def check_vpe():
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if delay != 0:
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failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
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info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
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get_param('EKF2_EVA_NOISE'),
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get_param('EKF2_EVP_NOISE'))
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get_param('EKF2_EVA_NOISE'),
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get_param('EKF2_EVP_NOISE'))
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if not vis:
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return
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@@ -155,7 +155,7 @@ void handleLocalPosition(const PoseStamped& pose)
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// wait for transform without interrupting publishing setpoints
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inline bool waitTransform(const string& target, const string& source,
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const ros::Time& stamp, const ros::Duration& timeout)
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const ros::Time& stamp, const ros::Duration& timeout) // editorconfig-checker-disable-line
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{
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ros::Rate r(100);
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auto start = ros::Time::now();
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@@ -484,9 +484,9 @@ inline void checkState()
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#define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
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bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
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float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate,
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float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm,
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uint8_t& success, string& message)
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float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate, // editorconfig-checker-disable-line
|
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float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm, // editorconfig-checker-disable-line
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uint8_t& success, string& message) // editorconfig-checker-disable-line
|
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{
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auto stamp = ros::Time::now();
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@@ -1,735 +0,0 @@
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# Onboard parameters for Vehicle 1
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#
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# Stack: PX4 Pro
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# Vehicle: Multi-Rotor
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# Version: 1.7.0
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# Git Revision: cbdb08bb6109c1ea
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#
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# Vehicle-Id Component-Id Name Value Type
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1 1 ATT_ACC_COMP 1 6
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1 1 ATT_BIAS_MAX 0.050000000745058060 9
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||||
1 1 ATT_EXT_HDG_M 0 6
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||||
1 1 ATT_MAG_DECL 0.000000000000000000 9
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1 1 ATT_MAG_DECL_A 1 6
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1 1 ATT_W_ACC 0.200000002980232239 9
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1 1 ATT_W_EXT_HDG 0.100000001490116119 9
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1 1 ATT_W_GYRO_BIAS 0.100000001490116119 9
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1 1 ATT_W_MAG 0.100000001490116119 9
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||||
1 1 BAT_A_PER_V 15.391030311584472656 9
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||||
1 1 BAT_CAPACITY -1.000000000000000000 9
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||||
1 1 BAT_CNT_V_CURR 0.000805664050858468 9
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||||
1 1 BAT_CNT_V_VOLT 0.000805664050858468 9
|
||||
1 1 BAT_CRIT_THR 0.070000000298023224 9
|
||||
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|
||||
1 1 TRIM_ROLL 0.000000000000000000 9
|
||||
1 1 TRIM_YAW 0.000000000000000000 9
|
||||
1 1 VT_B_DEC_MSS 2.000000000000000000 9
|
||||
1 1 VT_B_REV_DEL 0.000000000000000000 9
|
||||
Reference in New Issue
Block a user