X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=manipulator.h;h=cd44a6d7ab279bfaaa3716537a114428e3be971b;hb=8697ab57c9138aa2bb1657a971e4c2cc5e4a1606;hp=f01abd729b605fc9496ee7ecd647634e5b4fb0a5;hpb=ba46b057f3e2613a86f2dea7fa8022990482c735;p=universe.git

diff --git a/manipulator.h b/manipulator.h
index f01abd7..cd44a6d 100644
--- a/manipulator.h
+++ b/manipulator.h
@@ -1,17 +1,6 @@
 
-////////////////////////////////////////////////////////////////////////////////
-// This program is free software; you can redistribute it and/or              //
-// modify it under the terms of the GNU General Public License                //
-// version 2 as published by the Free Software Foundation.                    //
-//                                                                            //
-// This program is distributed in the hope that it will be useful, but        //
-// WITHOUT ANY WARRANTY; without even the implied warranty of                 //
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU          //
-// General Public License for more details.                                   //
-//                                                                            //
-// Written and (C) by François Fleuret                                        //
-// Contact <francois.fleuret@epfl.ch> for comments & bug reports              //
-////////////////////////////////////////////////////////////////////////////////
+// Written and (C) by Francois Fleuret
+// Contact <francois.fleuret@idiap.ch> for comments & bug reports
 
 #ifndef MANIPULATOR_CC
 #define MANIPULATOR_CC
@@ -23,6 +12,7 @@
 
 class Manipulator : public Map {
   static const int sqsize = 16;
+
   Polygon *_touching_polygon, *_current_polygon;
   scalar_t _grab_relative_x, _grab_relative_y;
   scalar_t _xmax, _ymax;
@@ -30,15 +20,24 @@ class Manipulator : public Map {
   scalar_t _force_x, _force_y;
   bool _grab, _release;
   int _current_action;
+
   enum { FEEL_TOUCHING_OBJECT, FEEL_GRABBING_OBJECT, NB_DISCRETE_PARAMETERS };
+
   enum { MAP_LOCATION_X, MAP_LOCATION_Y, MAP_RESISTANCE_X, MAP_RESISTANCE_Y, NB_CONTINUOUS_MAPS };
+
   static const int continuous_map_size = 25;
+
   scalar_t _kernel_continuous_maps[continuous_map_size * 2 + 1];
+
 public:
-  enum { ACTION_IDLE,
-         ACTION_MOVE_UP, ACTION_MOVE_RIGHT, ACTION_MOVE_DOWN, ACTION_MOVE_LEFT,
-         ACTION_GRAB, ACTION_RELEASE,
-         NB_ACTIONS };
+
+  enum {
+    ACTION_IDLE,
+    ACTION_MOVE_UP, ACTION_MOVE_RIGHT, ACTION_MOVE_DOWN, ACTION_MOVE_LEFT,
+    ACTION_GRAB, ACTION_RELEASE,
+    NB_ACTIONS
+  };
+
   Manipulator(Task *task);
 
   inline scalar_t hand_x() { return _hand_x; }
@@ -58,7 +57,7 @@ public:
 
   int random_action();
 
-//   void force_grab(Universe *universe, scalar_t x, scalar_t y);
+  //   void force_grab(Universe *universe, scalar_t x, scalar_t y);
   void force_move(scalar_t x, scalar_t y);
   void force_release();
 };