remove pragmas, enum explicit type

Author: Reobos

fsb-core/cmake/fsb_configuration.h.in

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_CONFIGURATION_H
+#define FSB_CONFIGURATION_H
 
 #include <cstddef>
 
@@ -64,3 +65,5 @@ struct MaxSize
  */
 
 } // namespace fsb
+
+#endif // FSB_CONFIGURATION_H

fsb-core/include/fsb_body.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_BODY_H
+#define FSB_BODY_H
 
 #include <array>
 #include <cstddef>
@@ -185,3 +186,5 @@ bool body_validate_inertia_is_pd(const Inertia& inertia);
  */
 
 } // namespace fsb
+
+#endif

fsb-core/include/fsb_body_tree.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_BODY_TREE_H
+#define FSB_BODY_TREE_H
 
 #include <array>
 #include <cstddef>
@@ -21,57 +22,57 @@ namespace fsb
 /**
  * @brief Error list for body tree operations.
  */
-enum class BodyTreeError
+enum class BodyTreeError : uint8_t
 {
-    SUCCESS,
+    SUCCESS = 0,
     /**
      * @brief Index does not point to an existing body in tree.
      */
-    BODY_NOT_IN_TREE,
+    BODY_NOT_IN_TREE = 1,
     /**
      * @brief Index does not point to an existing joint in tree.
      */
-    JOINT_NOT_IN_TREE,
+    JOINT_NOT_IN_TREE = 2,
     /**
      * @brief No more bodies can be added to the body tree. Maximum is specified by @c
      * MaxSize::bodies
      */
-    MAX_BODIES_REACHED,
+    MAX_BODIES_REACHED = 3,
     /**
      * @brief Parent body index does not point to an existing body in tree.
      */
-    PARENT_BODY_NONEXISTENT,
+    PARENT_BODY_NONEXISTENT = 4,
     /**
      * @brief No more joints can be added to the body tree. Maximum is specified by @c
      * MaxSize::joints
      */
-    MAX_JOINTS_REACHED,
+    MAX_JOINTS_REACHED = 5,
     /**
      * @brief Joint requires more coordinates than is available. Maximum is specified by @c
      * MaxSize::coordinates
      */
-    MAX_JOINT_COORDINATES_REACHED,
+    MAX_JOINT_COORDINATES_REACHED = 6,
     /**
      * @brief Joint requires more DoFs than is available. Maximum is specified by @c MaxSize::dofs
      */
-    MAX_JOINT_DOFS_REACHED,
+    MAX_JOINT_DOFS_REACHED = 7,
     /**
      * @brief Body mass is zero with a non-fixed parent joint
      */
-    MASS_ZERO,
+    MASS_ZERO = 8,
     /**
      * @brief At least one of the inertia principal components are zero with a non-fixed parent
      * joint
      */
-    INERTIA_ZERO,
+    INERTIA_ZERO = 9,
     /**
      * @brief  Body mass is set to zero but with non-zero inertia for a fixed parent joint.
      */
-    MASS_ZERO_WITH_INERTIA,
+    MASS_ZERO_WITH_INERTIA = 10,
     /**
      * @brief Inertia is not positive definite.
      */
-    INERTIA_NOT_POS_DEF
+    INERTIA_NOT_POS_DEF = 11
 };
 
 /**
@@ -283,3 +284,5 @@ inline BodyTreeError BodyTree::set_parent_joint_transform(
  */
 
 } // namespace fsb
+
+#endif

fsb-core/include/fsb_compute_kinematics.h

@@ -1,4 +1,6 @@
-#pragma once
+
+#ifndef FSB_COMPUTE_KINEMATICS_H
+#define FSB_COMPUTE_KINEMATICS_H
 
 #include "fsb_body.h"
 #include "fsb_body_tree.h"
@@ -22,16 +24,16 @@ namespace fsb
  * @brief Interface error codes
  *
  */
-enum class ComputeKinematicsError
+enum class ComputeKinematicsError : uint8_t
 {
     /**
      * @brief No error
      */
-    SUCCESS,
+    SUCCESS = 0,
     /**
      * @brief Body tree is invalid
      */
-    INVALID_BODY_TREE
+    INVALID_BODY_TREE = 1
 };
 
 /**
@@ -153,3 +155,5 @@ inline JacobianError ComputeKinematics::compute_jacobian(
  */
 
 } // namespace fsb
+
+#endif

fsb-core/include/fsb_configuration.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_CONFIGURATION_H
+#define FSB_CONFIGURATION_H
 
 #include <cstddef>
 
@@ -64,3 +65,5 @@ struct MaxSize
  */
 
 } // namespace fsb
+
+#endif // FSB_CONFIGURATION_H

fsb-core/include/fsb_encoder.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_ENCODER_H
+#define FSB_ENCODER_H
 
 #include <cstdint>
 #include "fsb_types.h"
@@ -18,29 +19,29 @@ namespace fsb
  * @brief Status from setting encoder parameters
  *
  */
-enum class EncoderStatus
+enum class EncoderStatus: uint8_t
 {
     /**
      * @brief Parameters applied successfully
      */
-    SUCCESS,
+    SUCCESS = 0,
     /**
      * @brief Resolution of encoder (in number of bits) must be non-zero
      */
-    RESOLUTION_IS_ZERO,
+    RESOLUTION_IS_ZERO = 1,
     /**
      * @brief Encoder resolution exceeds maximum of 32 bits
      */
-    RESOLUTION_EXCEEDS_MAX,
+    RESOLUTION_EXCEEDS_MAX = 2,
     /**
      * @brief Counts per revolution must be non-zero
      */
-    COUNTS_PER_REV_ZERO,
+    COUNTS_PER_REV_ZERO = 3,
     /**
      * @brief Value per revolution is below tolerance
      *
      */
-    VALUE_PER_REV_ZERO
+    VALUE_PER_REV_ZERO = 4
 };
 
 /**
@@ -112,3 +113,5 @@ class IncrementalEncoder
  */
 
 } // namespace fsb
+
+#endif

fsb-core/include/fsb_jacobian.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_JACOBIAN_H
+#define FSB_JACOBIAN_H
 
 #include <array>
 #include <cstddef>
@@ -138,20 +139,10 @@ JacobianError calculate_jacobian(
 
 MotionVector jacobian_multiply_joint_motion_vector(const Jacobian& jac, const JointSpace& joint_motion, size_t dofs = MaxSize::dofs);
 
-// JacobianError calculate_hessian(
-//     size_t body_index, const BodyTree& body_tree, const BodyCartesianPva& cartesian_pva, const
-//     Jacobian& jacobian, Hessian& hessian);
-
-// JacobianError singular_metrics(
-//     size_t body_index, const BodyTree& body_tree, const BodyCartesianPva& cartesian_pva, const
-//     Jacobian& jacobian);
-
-// JacobianError observability_metrics(
-//     size_t body_index, const BodyTree& body_tree, const BodyCartesianPva& cartesian_pva, const
-//     Jacobian& jacobian);
-
 /**
  * @}
  */
 
 } // namespace fsb
+
+#endif // FSB_JACOBIAN_H

fsb-core/include/fsb_joint.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_JOINT_H
+#define FSB_JOINT_H
 
 #include <array>
 #include <cstddef>
@@ -22,28 +23,28 @@ namespace fsb
 /**
  * @brief Joint type
  */
-enum class JointType
+enum class JointType : uint8_t
 {
+    /** @brief Fixed joint */
+    FIXED = 0,
     /** @brief Revolute joint about the x-axis */
-    REVOLUTE_X,
+    REVOLUTE_X = 1,
     /** @brief Revolute joint about the y-axis */
-    REVOLUTE_Y,
+    REVOLUTE_Y = 2,
     /** @brief Revolute joint about the z-axis */
-    REVOLUTE_Z,
+    REVOLUTE_Z = 3,
     /** @brief Prismatic joint along x-axis */
-    PRISMATIC_X,
+    PRISMATIC_X = 4,
     /** @brief Prismatic joint along y-axis */
-    PRISMATIC_Y,
+    PRISMATIC_Y = 5,
     /** @brief Prismatic joint along z-axis */
-    PRISMATIC_Z,
+    PRISMATIC_Z = 6,
     /** @brief Spherical joint */
-    SPHERICAL,
-    /** @brief Planar joint in XY plane */
-    PLANAR,
+    SPHERICAL = 7,
     /** @brief 6 DoF Cartesian joint */
-    CARTESIAN,
-    /** @brief Fixed joint */
-    FIXED
+    CARTESIAN = 8,
+    /** @brief Planar joint in XY plane */
+    PLANAR = 9
 };
 
 /**
@@ -176,3 +177,5 @@ bool joint_validate(const Joint& joint);
  */
 
 } // namespace fsb
+
+#endif // FSB_JOINT_H

fsb-core/include/fsb_kinematics.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_KINEMATICS_H
+#define FSB_KINEMATICS_H
 
 #include "fsb_body.h"
 #include "fsb_body_tree.h"
@@ -19,21 +20,21 @@ namespace fsb
 /**
  * @brief Forward kinematics options
  */
-enum class ForwardKinematicsOption
+enum class ForwardKinematicsOption: uint8_t
 {
     /**
      * @brief Calculate Cartesian pose from joint position
      */
-    POSE,
+    POSE = 0,
     /**
      * @brief Calculate Cartesian pose and velocity from joint position and velocity
      */
-    POSE_VELOCITY,
+    POSE_VELOCITY = 1,
     /**
      * @brief Calculate Cartesian pose, velocity and acceleration from
      *        joint position, velocity, and acceleration
      */
-    POSE_VELOCITY_ACCELERATION
+    POSE_VELOCITY_ACCELERATION = 2
 };
 
 /**
@@ -65,3 +66,5 @@ void body_com_kinematics(
  */
 
 } // namespace fsb
+
+#endif

fsb-core/include/fsb_linalg3.h

@@ -1,5 +1,6 @@
 
-#pragma once
+#ifndef FSB_LINALG3_H
+#define FSB_LINALG3_H
 
 #include "fsb_types.h"
 
@@ -44,3 +45,5 @@ bool mat3_posdef_symmetric_eigenvectors(
  */
 
 } // namespace fsb
+
+#endif