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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Benjamin Perseghetti <[email protected]>
gazebosim · May 16, 2024 · 6c121d7 · 6c121d7
1 parent cbd801b
commit 6c121d7
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Showing 3 changed files with 23 additions and 22 deletions.
diff --git a/include/gz/math/Cone.hh b/include/gz/math/Cone.hh
@@ -57,8 +57,8 @@ namespace gz
       /// \param[in] _radius Radius of the cone.
       /// \param[in] _rotOffset Rotational offset of the cone.
       public: Cone(const Precision _length, const Precision _radius,
-                  const Quaternion<Precision> &_rotOffset =
-                  Quaternion<Precision>::Identity);
+                   const Quaternion<Precision> &_rotOffset =
+                   Quaternion<Precision>::Identity);
 
       /// \brief Construct a cone with a length, radius, material and
       /// optionally a rotational offset.
@@ -67,9 +67,9 @@ namespace gz
       /// \param[in] _mat Material property for the cone.
       /// \param[in] _rotOffset Rotational offset of the cone.
       public: Cone(const Precision _length, const Precision _radius,
-                  const Material &_mat,
-                  const Quaternion<Precision> &_rotOffset =
-                  Quaternion<Precision>::Identity);
+                   const Material &_mat,
+                   const Quaternion<Precision> &_rotOffset =
+                   Quaternion<Precision>::Identity);
 
       /// \brief Get the radius in meters.
       /// \return The radius of the cone in meters.
@@ -95,7 +95,7 @@ namespace gz
       public: Quaternion<Precision> RotationalOffset() const;
 
       /// \brief Set the rotation offset.
-      /// \param[in] _rotOffset
+      /// \param[in] _rotOffset rotational offset quaternion.
       /// See Quaternion<Precision> RotationalOffset() for details on the
       /// rotational offset.
       /// \sa Quaternion<Precision> RotationalOffset() const

diff --git a/include/gz/math/MassMatrix3.hh b/include/gz/math/MassMatrix3.hh
@@ -18,6 +18,7 @@
 #define GZ_MATH_MASSMATRIX3_HH_
 
 #include <algorithm>
+#include <cmath>
 #include <limits>
 #include <string>
 #include <vector>
@@ -939,9 +940,9 @@ namespace gz
       /// \param[in] _rot Rotational offset of equivalent cone.
       /// \return True if inertial properties were set successfully.
       public: bool SetFromConeZ(const Material &_mat,
-                                    const T _length,
-                                    const T _radius,
-                            const Quaternion<T> &_rot = Quaternion<T>::Identity)
+                                const T _length,
+                                const T _radius,
+                                const Quaternion<T> &_rot = Quaternion<T>::Identity)
       {
         // Check that density, _radius and _length are strictly positive
         // and that quaternion is valid
@@ -963,9 +964,9 @@ namespace gz
       /// \param[in] _rot Rotational offset of equivalent cone.
       /// \return True if inertial properties were set successfully.
       public: bool SetFromConeZ(const T _mass,
-                                    const T _length,
-                                    const T _radius,
-                            const Quaternion<T> &_rot = Quaternion<T>::Identity)
+                                const T _length,
+                                const T _radius,
+                                const Quaternion<T> &_rot = Quaternion<T>::Identity)
       {
         // Check that _mass, _radius and _length are strictly positive
         // and that quaternion is valid
@@ -985,8 +986,8 @@ namespace gz
       /// \param[in] _rot Rotational offset of equivalent cone.
       /// \return True if inertial properties were set successfully.
       public: bool SetFromConeZ(const T _length,
-                                    const T _radius,
-                                    const Quaternion<T> &_rot)
+                                const T _radius,
+                                const Quaternion<T> &_rot)
       {
         // Check that _mass and _size are strictly positive
         // and that quaternion is valid

diff --git a/src/ruby/MassMatrix3.i b/src/ruby/MassMatrix3.i
@@ -104,16 +104,16 @@ namespace gz
                                     const T _radius,
                                     const Quaternion<T> &_rot);
       public: bool SetFromConeZ(const Material &_mat,
-                                    const T _length,
-                                    const T _radius,
-                                    const Quaternion<T> &_rot = Quaternion<T>::Identity);
+                                const T _length,
+                                const T _radius,
+                                const Quaternion<T> &_rot = Quaternion<T>::Identity);
       public: bool SetFromConeZ(const T _mass,
-                                    const T _length,
-                                    const T _radius,
-                                    const Quaternion<T> &_rot = Quaternion<T>::Identity);
+                                const T _length,
+                                const T _radius,
+                                const Quaternion<T> &_rot = Quaternion<T>::Identity);
       public: bool SetFromConeZ(const T _length,
-                                    const T _radius,
-                                    const Quaternion<T> &_rot);
+                                const T _radius,
+                                const Quaternion<T> &_rot);
       public: bool SetFromSphere(const Material &_mat, const T _radius);
       public: bool SetFromSphere(const T _mass, const T _radius);
       public: bool SetFromSphere(const T _radius);