Petites modifications d'ordre esthétique

userFiles/ctrl/groups_ctrl/gr18/localization/calibration_gr18.cc

@@ -19,17 +19,16 @@ NAMESPACE_INIT(ctrlGr18);
 void calibration(CtrlStruct *cvs)
 {
     // variables declaration
-    int team_id;
-    double t;
-
-    CtrlIn *inputs;
+	CtrlIn *inputs;
     RobotCalibration *calib;
     RobotPosition *rob_pos;
+
+	double t;
+	int team_id;
 
     // variables initialization
     inputs = cvs->inputs;
     calib  = cvs->calib;
-
     rob_pos = cvs->rob_pos;
 
     t = inputs->t;

userFiles/ctrl/groups_ctrl/gr18/localization/kalman_gr18.cc

@@ -18,10 +18,10 @@ void kalman(CtrlStruct *cvs)
 	KalmanStruct *pos_kalman;
 
 	// variables initialization
+	inputs = cvs->inputs;
 	rob_pos = cvs->rob_pos;
 	pos_tri = cvs->triang_pos;
 	pos_kalman = cvs->kalman_pos;
-	inputs = cvs->inputs;
 
 	// variables temporaires 
 	int i;

userFiles/ctrl/groups_ctrl/gr18/localization/odometry_gr18.cc

@@ -12,11 +12,11 @@ NAMESPACE_INIT(ctrlGr18);
 void update_odometry(CtrlStruct *cvs)
 {
 	// variables declaration
-	double r_sp, l_sp;
-	double dt;
-
 	RobotPosition *rob_pos;
 	CtrlIn *inputs;
+
+	double r_sp, l_sp;
+	double dt;
 
 	// variables initialization
 	inputs  = cvs->inputs;

userFiles/ctrl/groups_ctrl/gr18/localization/opp_pos_gr18.cc

@@ -215,10 +215,10 @@ int single_opp_tower(CtrlStruct *cvs, double last_rise, double last_fall, double
  */
 void check_opp_front(CtrlStruct *cvs)
 {
-	// variables declaratio
+	// variables declaration
 	CtrlIn *inputs;
-	OpponentsPosition *opp_pos;
 	RobotPosition *rob_pos;
+	OpponentsPosition *opp_pos;
 
 	int i, nb_opp;
 	int rise_index[2], fall_index[2];
@@ -228,6 +228,7 @@ void check_opp_front(CtrlStruct *cvs)
 	inputs  = cvs->inputs;
 	rob_pos = cvs->rob_pos;
 	opp_pos = cvs->opp_pos;
+
 	nb_opp = opp_pos->nb_opp;
 
 	// no opponent

userFiles/ctrl/groups_ctrl/gr18/main/CtrlStruct_gr18.cc

@@ -21,8 +21,9 @@ NAMESPACE_INIT(ctrlGr18);
 CtrlStruct* init_CtrlStruct(CtrlIn *inputs, CtrlOut *outputs)
 {
 	// variables initialization
-	int i;
 	CtrlStruct *cvs;
+
+	int i;
 
 	// memory allocation
 	cvs = (CtrlStruct*) malloc(sizeof(CtrlStruct));
@@ -139,7 +140,7 @@ CtrlStruct* init_CtrlStruct(CtrlIn *inputs, CtrlOut *outputs)
  * \param[in] cvs controller main structure
  */
 void free_CtrlStruct(CtrlStruct *cvs)
-{	
+{
 	free_path_planning(cvs->path);
 	free_strategy(cvs->strat);
 

userFiles/ctrl/groups_ctrl/gr18/main/ctrl_main_gr18.cc

@@ -27,10 +27,13 @@ NAMESPACE_INIT(ctrlGr18);
 void controller_init(CtrlStruct *cvs)
 {
 	// variables declaration
-	double t;
 	CtrlIn *inputs;
-
+
+	double t;
+
+	// variables initialization
 	inputs = cvs->inputs;
+
 	t = inputs->t;
 
 	// robot ID
@@ -80,7 +83,7 @@ void controller_loop(CtrlStruct *cvs)
 	CtrlOut *outputs;
 
 	double t;
-
+	
 	// variables initialization
 	inputs  = cvs->inputs;
 	outputs = cvs->outputs;

userFiles/ctrl/groups_ctrl/gr18/path/path_planning_gr18.cc

@@ -24,8 +24,9 @@ NAMESPACE_INIT(ctrlGr18);
 */
 PathPlanning* init_path_planning()
 {
-	//variable declaration
+	//variables declaration
 	PathPlanning *path;
+
 	int i, j;
 
 	// memory allocation
@@ -96,7 +97,7 @@ PathPlanning* init_path_planning()
 */
 void free_path_planning(PathPlanning *path)
 {
-	// variable declaration
+	// variables declaration
 	int i;
 
 	// ----- path-planning memory release start ----- //
@@ -236,6 +237,7 @@ void create_map(CtrlStruct *cvs)
 {
 	// variables declaration
 	PathPlanning *path;
+
 	int i, j;
 
 	// variables initialization
@@ -423,14 +425,14 @@ void create_map(CtrlStruct *cvs)
 	return;
 }
 
-
 // Mets une valeur haute aux cases occupés par le robot adverse
 void manage_opp(CtrlStruct *cvs, int delta)
 {
 	// variable declaration
 	PathPlanning *path;
 	OpponentsPosition *opp_pos;
 	RobotPosition *rob_pos;
+
 	int i, j, k;
 	int i_start, i_end, j_start, j_end;
 
@@ -495,15 +497,16 @@ void assign_numbers(CtrlStruct *cvs)
 {
 	// variables declaration
 	PathPlanning *path;
+
 	int i, j, value, cases_ni;
 
 	// variables initialization
 	path = cvs->path;
+
 	value = 0;
 	cases_ni = 0;
 
 	path->map[path->goal_XY->X][path->goal_XY->Y] = 0;
-
 
 	//Compte le nombre de cases a assigner
 	for (i = 0; i < CELL_X; i++)
@@ -516,7 +519,6 @@ void assign_numbers(CtrlStruct *cvs)
 			}
 		}
 	}
-
 
 	//Assigne les cases avec l'algorythme d'exmpension jusqu'a ateindre le robot
 	while ((cases_ni > 0) && (path->map[path->rob_pos_XY->X][path->rob_pos_XY->Y] > 90)) // tant qu'on n'a pas enregistré toute les cases
@@ -583,6 +585,7 @@ void find_path(CtrlStruct *cvs)
 {
 	// variable declaration
 	PathPlanning *path;
+
 	int i, j, i_line, j_line, i_diag, j_diag, k, l, c;
 	float avg_temp, avg_line, avg_diag;
 

userFiles/ctrl/groups_ctrl/gr18/regulation/path_regulation_gr18.cc

@@ -15,20 +15,20 @@ NAMESPACE_INIT(ctrlGr18);
  */
 void follow_path(CtrlStruct *cvs, double goal_x, double goal_y)
 {
-	//variable declaration
+	//variables declaration
 	PosRegulation *pos_reg;
-	Strategy *strat;
 	OpponentsPosition *opp_pos;
 	PathPlanning *path;
 	CtrlIn *inputs;
+
 	int team_id;
 
 	// variables initialization
 	pos_reg = cvs->pos_reg;
-	strat = cvs->strat;
 	opp_pos = cvs->opp_pos;
     path = cvs->path;
 	inputs = cvs->inputs;
+
 	team_id = cvs->team_id;
 
 	switch (pos_reg->path_state)
@@ -194,8 +194,8 @@ void run(CtrlStruct *cvs, double x_ref, double y_ref, double theta_ref, float ep
 int turn(CtrlStruct *cvs, double theta_ref, int sens)
 {
     // variables declaration
+	CtrlIn *inputs;
     RobotPosition *rob_pos;
-    CtrlIn *inputs;
     PosRegulation *pos_reg;
 
     double dt;

userFiles/ctrl/groups_ctrl/gr18/regulation/speed_regulation_gr18.cc

@@ -11,13 +11,13 @@ NAMESPACE_INIT(ctrlGr18);
  */
 void speed_regulation(CtrlStruct *cvs, double r_sp_ref, double l_sp_ref)
 {
-    double r_sp, l_sp;
-    double dt;
-
     // variables declaration
     CtrlIn *inputs;
     CtrlOut *outputs;
     SpeedRegulation *sp_reg;
+
+	double r_sp, l_sp;
+	double dt;
 
     // variables initialization
     inputs  = cvs->inputs;