[planning] Opt-in to clang-format lint (#18701)

.clang-format

@@ -12,8 +12,8 @@ DerivePointerAlignment: false
 PointerAlignment: Left
 
 # Compress functions onto a single line (when they fit) iff they are defined
-# inline (inside a of class).
-AllowShortFunctionsOnASingleLine: InlineOnly
+# inline (inside a of class) or are empty.
+AllowShortFunctionsOnASingleLine: Inline
 
 # Compress lambdas onto a single line iff they are empty.
 AllowShortLambdasOnASingleLine: Empty

bindings/pydrake/.clang-format

@@ -12,8 +12,8 @@ DerivePointerAlignment: false
 PointerAlignment: Left
 
 # Compress functions onto a single line (when they fit) iff they are defined
-# inline (inside a of class).
-AllowShortFunctionsOnASingleLine: InlineOnly
+# inline (inside a of class) or are empty.
+AllowShortFunctionsOnASingleLine: Inline
 
 # Compress lambdas onto a single line iff they are empty.
 AllowShortLambdasOnASingleLine: Empty
@@ -59,11 +59,5 @@ IncludeCategories:
 # Avoid widening out code horizontally a lot.
 AlignAfterOpenBracket: DontAlign
 
-# Try to fit onto a single line:
-# - functions with an empty body, or
-# - member functions defined inside a class;
-# everything else (e.g., free functions) are forced onto multiple lines.
-AllowShortFunctionsOnASingleLine: Inline
-
 # Compress lambdas as much as possible.
 AllowShortLambdasOnASingleLine: All

lcm/drake_lcm.cc

@@ -70,12 +70,10 @@ class DrakeLcm::Impl {
   std::string handle_subscriptions_error_message_;
 };
 
-DrakeLcm::DrakeLcm() : DrakeLcm(std::string{}) {
-}
+DrakeLcm::DrakeLcm() : DrakeLcm(std::string{}) {}
 
 DrakeLcm::DrakeLcm(std::string lcm_url)
-    : DrakeLcm(DrakeLcmParams{.lcm_url = std::move(lcm_url)}) {
-}
+    : DrakeLcm(DrakeLcmParams{.lcm_url = std::move(lcm_url)}) {}
 
 DrakeLcm::DrakeLcm(const DrakeLcmParams& params)
     : impl_(std::make_unique<Impl>(params)) {

planning/BUILD.bazel

@@ -265,4 +265,4 @@ drake_cc_googletest(
     ],
 )
 
-add_lint_tests()
+add_lint_tests(enable_clang_format_lint = True)

planning/body_shape_description.cc

@@ -7,11 +7,10 @@
 namespace drake {
 namespace planning {
 
-BodyShapeDescription::BodyShapeDescription(
-    const geometry::Shape& shape,
-    const math::RigidTransformd& X_BS,
-    std::string model_instance_name,
-    std::string body_name)
+BodyShapeDescription::BodyShapeDescription(const geometry::Shape& shape,
+                                           const math::RigidTransformd& X_BS,
+                                           std::string model_instance_name,
+                                           std::string body_name)
     : shape_(shape.Clone()),
       X_BS_(X_BS),
       model_instance_name_(std::move(model_instance_name)),
@@ -37,8 +36,7 @@ BodyShapeDescription MakeBodyShapeDescription(
   const auto frame_id = inspector.GetFrameId(geometry_id);
   // inspector gives us the shape's pose w.r.t. the parent geometry frame F. We
   // rely on MbP registering the geometry frame F to the body B as X_BF = I.
-  const math::RigidTransformd& X_BS =
-      inspector.GetPoseInFrame(geometry_id);
+  const math::RigidTransformd& X_BS = inspector.GetPoseInFrame(geometry_id);
   const auto body = plant.GetBodyFromFrameId(frame_id);
   DRAKE_DEMAND(body != nullptr);
   const std::string& model_instance_name =