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clang formatting
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farbod-farshidian committed Mar 10, 2022
1 parent 3a58368 commit e863f5b
Showing 1 changed file with 4 additions and 5 deletions.
9 changes: 4 additions & 5 deletions ocs2_oc/include/ocs2_oc/rollout/RolloutBase.h
Original file line number Diff line number Diff line change
@@ -116,18 +116,17 @@ class RolloutBase {
* @param [in] stateTrajectory: The state trajectory.
* @param [in] inputTrajectory: The control input trajectory.
*/
static void display(const scalar_array_t& timeTrajectory, const size_array_t& postEventIndices,
const vector_array_t& stateTrajectory, const vector_array_t* const inputTrajectory);
static void display(const scalar_array_t& timeTrajectory, const size_array_t& postEventIndices, const vector_array_t& stateTrajectory,
const vector_array_t* const inputTrajectory);

protected:
/** Extracts an array of the rollout's start and final times for each active mode. */
std::vector<std::pair<scalar_t, scalar_t>> findActiveModesTimeInterval(scalar_t initTime, scalar_t finalTime,
const scalar_array_t& eventTimes) const;

/** Checks for the numerical stability if rollout::Settings::checkNumericalStability is true. */
void checkNumericalStability(const ControllerBase& controller, const scalar_array_t& timeTrajectory,
const size_array_t& postEventIndices, const vector_array_t& stateTrajectory,
const vector_array_t& inputTrajectory) const;
void checkNumericalStability(const ControllerBase& controller, const scalar_array_t& timeTrajectory, const size_array_t& postEventIndices,
const vector_array_t& stateTrajectory, const vector_array_t& inputTrajectory) const;

const rollout::Settings rolloutSettings_;
};

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