FIx indenting of comments

[Woolfrey]

The indenting for comments is out of alignment after code is pushed and pulled again. We need to go through and rectify the spacing in all the files.

:bangbang: @ssutjipto I have recently set gedit to insert 5 spaces instead of an indent when using the tab button, so you should configure your IDE to do the same.

FYI my current style is:

function()
{
     5 space indenting for new scope         // Comments beginning at 100th column on right hand side (yes I know this is not exactly 100 spaces across, it just doesn't fit neatly in the tiny github window)
}

Here's the list:

• [x] Math
  • [x] /include/Math.h
• [x] Model
  • [x] /include/Joint.h
  • [x] /include/KinematicTree.h
  • [x] /include/Link.h
  • [x] /include/Pose.h
  • [x] /include/RigidBody.h
  • [x] /test/urdf_test.cpp
• [x] Trajectory
  • [x] /include/CartesianTrajectory.h
  • [x] /include/MultiTrapezoid.h
  • [x] /include/Polynomial.h
  • [x] /include/Spline.h
  • [x] /include/TrajectoryBase.h
  • [x] /include/TrapezoidalVelocity.h
  • [x] /include/Waypoints/h
  • [x] /test/multi_trapezoid_test.cpp
  • [x] /test/polynomial_test.cpp
  • [x] /test/spline_test.cpp
  • [x] /test/trapezoidal_test.cpp

[Woolfrey]

@ssutjipto, I fixed the indenting on my end and pushed code. It looks correct to me when viewing in github. Can you confirm and close this issue?

[ssutjipto]

@Woolfrey On my side it still seems to be a mix of both tabs and spaces still. In the image (showing KinematicTree.h), the line character represents a tab and the dots are spaces. This is through all the files.

Are you sure about 5 spaces? I think 2 or 4 is more common. Let me know and I can help make the changes.

[Woolfrey]

I had to use Find & Replace for all tabs and substitute in 5 spaces, so I think it should be OK now. I'll push the code to the control branch which I've been working on.

[ssutjipto]

@Woolfrey just letting you know the screenshot is not from the control branch, it's from devel since it's one of the branches where I could find your commits for fixing up the indenting.

Since this repository is public, I feel that it's better to pick an indentation equal to a more common spacing amount that people use. Otherwise it might be annoying for people to work with the repository. Google C++ Style guide says 2, but people argue that it can be difficult to see the indents. So maybe, 4 is better. But I can't seem to find anyone using 5, this is really a rare. The next number up that people use from 4 is 8, but some people find 8 excessive.

[ssutjipto]

Here is a short list of example repositories within the robotics space that follow 2 or 4 spacing for indentation.

2 spaces:

• pcl (Point Cloud Library)
• moveit
• Google projects generally (https://google.github.io/styleguide/)
• ROS2
• eigen
• octomap
• ceres-solver

4 spaces:

• opencv
• realsense-ros
• orocos_kdl
• ORB_SLAM2
• AirSim (Microsoft simulator for drones, cars, more)

Also, style is more than just the tab width so some of these repositories have their own style guide and they sometimes have a clang-format file that the IDE uses to adhere to the desired formatting.

I really can't find any repository (not limited to the robotics repositories) that uses an odd number for indentation.

I realise that you've changed most of these files to 5 spaces from tabs/4 spaces. But I can change this once we've settled on a number to use.

[Woolfrey]

The tab I used was whatever the default was in gedit. It may have been 5 spaces, I don't remember. Either way, I think using 4 spaces is nicer than using 2 spaces:

class Haiku
{
    public:

        Haiku() {}

        static std::string read_line(const unsigned int &lineNumber)
        {
            switch(lineNumber)
            {
                case 1: return "Worker bees can leave.\n";
                case 2: return "Even drones can fly away.\n";
                case 3: return "The Queen is their slave.\n";

                default: throw std::invalid_argument("[FLAGRANT ERROR] Expected a number between 1 and 3, "
                                                     "but you input " + std::to_string(lineNumber) + ".");
            }
        }

        static std::string read()
        {
            std::string haiku;                                                                      // Value to be returned

            for(int lineNumber = 1; lineNumber < 4; lineNumber++)
            {
                haiku += read_line(lineNumber);
            }

            return haiku;
        }   
};

2 spaces:

class Haiku
{
  public:

    Haiku() {}

    static std::string read_line(const unsigned int &lineNumber)
    {
      switch(lineNumber)
      {
        case 1: return "Worker bees can leave.\n";
        case 2: return "Even drones can fly away.\n";
        case 3: return "The Queen is their slave.\n";

        default: throw std::invalid_argument("[FLAGRANT ERROR] Expected a number between 1 and 3, "
                                             "but you input " + std::to_string(lineNumber) + ".");
      }
    }

    static std::string read()
    {
      std::string haiku;                                                                            // Value to be returned

      for(int lineNumber = 1; lineNumber < 4; lineNumber++)
      {
        haiku += read_line(lineNumber);
      }

      return haiku;
    }   
};

I find 2 spaces very difficult to discern different lines of code when I'm scanning for something particular.