Fix formatting using clang

ntl-ros-pkg · Dec 21, 2018 · 5f72fae · 5f72fae
1 parent 418c59b
commit 5f72fae
Show file tree

Hide file tree

Showing 42 changed files with 303 additions and 333 deletions.
diff --git a/.clang-format b/.clang-format
@@ -1,5 +1,5 @@
 ---
-# find . -path ./trajopt_ext/vhacd -prune -o -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format -style=file -i {} \;
+# find . -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format -style=file -i {} \;
 BasedOnStyle: Google
 AccessModifierOffset: -2
 AlignEscapedNewlinesLeft: false

diff --git a/.travis.yml b/.travis.yml
@@ -24,8 +24,6 @@ env:
 matrix:
   include:
     - env: ROS_DISTRO=kinetic CLANG_FORMAT_CHECK=file
-      git:
-        submodules: false
     - env: ROS_DISTRO=kinetic ROS_REPO=ros              NOT_TEST_INSTALL=true
     - env: ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed NOT_TEST_INSTALL=true
     - env: ROS_DISTRO=melodic ROS_REPO=ros              NOT_TEST_INSTALL=true

diff --git a/trajopt/include/trajopt/file_write_callback.hpp b/trajopt/include/trajopt/file_write_callback.hpp
@@ -4,6 +4,5 @@
 
 namespace trajopt
 {
-sco::Optimizer::Callback WriteCallback(std::shared_ptr<std::ofstream> file,
-                                       const TrajOptProbPtr& prob);
+sco::Optimizer::Callback WriteCallback(std::shared_ptr<std::ofstream> file, const TrajOptProbPtr& prob);
 }
diff --git a/trajopt/include/trajopt/kinematic_terms.hpp b/trajopt/include/trajopt/kinematic_terms.hpp
@@ -13,7 +13,6 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 namespace trajopt
 {
-
 /**
  * @brief Used to calculate the error for CartPoseTermInfo
  * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
@@ -27,10 +26,10 @@ struct DynamicCartPoseErrCalculator : public TrajOptVectorOfVector
   std::string link_;
   Eigen::Isometry3d tcp_;
   DynamicCartPoseErrCalculator(const std::string& target,
-                        tesseract::BasicKinConstPtr manip,
-                        tesseract::BasicEnvConstPtr env,
-                        std::string link,
-                        Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                               tesseract::BasicKinConstPtr manip,
+                               tesseract::BasicEnvConstPtr env,
+                               std::string link,
+                               Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_(target), manip_(manip), env_(env), link_(link), tcp_(tcp)
   {
   }
@@ -53,10 +52,10 @@ struct CartPoseErrCalculator : public TrajOptVectorOfVector
   std::string link_;
   Eigen::Isometry3d tcp_;
   CartPoseErrCalculator(const Eigen::Isometry3d& pose,
-                              tesseract::BasicKinConstPtr manip,
-                              tesseract::BasicEnvConstPtr env,
-                              std::string link,
-                              Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                        tesseract::BasicKinConstPtr manip,
+                        tesseract::BasicEnvConstPtr env,
+                        std::string link,
+                        Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : pose_inv_(pose.inverse()), manip_(manip), env_(env), link_(link), tcp_(tcp)
   {
   }
@@ -103,10 +102,10 @@ struct CartVelErrCalculator : sco::VectorOfVector
   double limit_;
   Eigen::Isometry3d tcp_;
   CartVelErrCalculator(tesseract::BasicKinConstPtr manip,
-                    tesseract::BasicEnvConstPtr env,
-                    std::string link,
-                    double limit,
-                    Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                       tesseract::BasicEnvConstPtr env,
+                       std::string link,
+                       double limit,
+                       Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : manip_(manip), env_(env), link_(link), limit_(limit), tcp_(tcp)
   {
   }

diff --git a/trajopt/include/trajopt/problem_description.hpp b/trajopt/include/trajopt/problem_description.hpp
@@ -51,7 +51,7 @@ class TRAJOPT_API TrajOptProb : public sco::OptProb
   TrajOptProb();
   TrajOptProb(int n_steps, const ProblemConstructionInfo& pci);
   virtual ~TrajOptProb() = default;
-  sco::VarVector GetVarRow(int i, int start_col, int num_col){ return m_traj_vars.rblock(i, start_col, num_col);}
+  sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
   sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
   sco::Var& GetVar(int i, int j) { return m_traj_vars.at(i, j); }
   VarArray& GetVars() { return m_traj_vars; }
@@ -66,11 +66,9 @@ class TRAJOPT_API TrajOptProb : public sco::OptProb
   TrajArray GetInitTraj() { return m_init_traj; }
   friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
-  bool GetHasTime() { return has_time;}
+  bool GetHasTime() { return has_time; }
   /** @brief Sets TrajOptProb.has_time  */
-  void SetHasTime(bool tmp) { has_time = tmp;}
-
-
+  void SetHasTime(bool tmp) { has_time = tmp; }
 private:
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
@@ -115,14 +113,15 @@ Initialization info read from json
 */
 struct InitInfo
 {
- /** @brief Methods of initializing the optimization matrix
+  /** @brief Methods of initializing the optimization matrix
 
-   STATIONARY: Initializes all joint values to the initial value (the current value in the env pci.env->getCurrentJointValues)
-   JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
-   GIVEN_TRAJ: Initializes the matrix to a given trajectory
+    STATIONARY: Initializes all joint values to the initial value (the current value in the env
+    pci.env->getCurrentJointValues)
+    JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
+    GIVEN_TRAJ: Initializes the matrix to a given trajectory
 
-   In all cases the dt column (if present) is appended the selected method is defined.
-*/
+    In all cases the dt column (if present) is appended the selected method is defined.
+ */
   enum Type
   {
     STATIONARY,
@@ -154,7 +153,6 @@ struct TRAJOPT_API TermInfo
   std::string name;
   int term_type;
   int getSupportedTypes() { return supported_term_types_; }
-
   virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
   virtual void hatch(TrajOptProb& prob) = 0;
 
@@ -171,7 +169,6 @@ struct TRAJOPT_API TermInfo
 
 protected:
   TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
-
 private:
   static std::map<std::string, MakerFunc> name2maker;
   int supported_term_types_;

diff --git a/trajopt/include/trajopt/trajectory_costs.hpp b/trajopt/include/trajopt/trajectory_costs.hpp
@@ -24,7 +24,6 @@ class TRAJOPT_API JointPosEqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -38,7 +37,6 @@ class TRAJOPT_API JointPosEqCost : public sco::Cost
   int first_step_;
   /** @brief Last time step to which the term is applied */
   int last_step_;
-
 };
 
 /**
@@ -61,7 +59,6 @@ class TRAJOPT_API JointPosIneqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -79,7 +76,6 @@ class TRAJOPT_API JointPosIneqCost : public sco::Cost
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 
 class TRAJOPT_API JointPosEqConstraint : public sco::EqConstraint
@@ -101,7 +97,6 @@ class TRAJOPT_API JointPosEqConstraint : public sco::EqConstraint
   /** Sum of violations */
   double violation(const DblVec& x);
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -133,7 +128,6 @@ class TRAJOPT_API JointPosIneqConstraint : public sco::IneqConstraint
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -151,10 +145,8 @@ class TRAJOPT_API JointPosIneqConstraint : public sco::IneqConstraint
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 
-
 class TRAJOPT_API JointVelEqCost : public sco::Cost
 {
 public:
@@ -169,7 +161,6 @@ class TRAJOPT_API JointVelEqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values using Eigen*/
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -183,7 +174,6 @@ class TRAJOPT_API JointVelEqCost : public sco::Cost
   int first_step_;
   /** @brief Last time step to which the term is applied */
   int last_step_;
-
 };
 
 class TRAJOPT_API JointVelIneqCost : public sco::Cost
@@ -202,7 +192,6 @@ class TRAJOPT_API JointVelIneqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -220,7 +209,6 @@ class TRAJOPT_API JointVelIneqCost : public sco::Cost
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 
 class TRAJOPT_API JointVelEqConstraint : public sco::EqConstraint
@@ -242,7 +230,6 @@ class TRAJOPT_API JointVelEqConstraint : public sco::EqConstraint
   /** Sum of violations */
   double violation(const DblVec& x);
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -274,7 +261,6 @@ class TRAJOPT_API JointVelIneqConstraint : public sco::IneqConstraint
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -292,7 +278,6 @@ class TRAJOPT_API JointVelIneqConstraint : public sco::IneqConstraint
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-1)*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 
 class TRAJOPT_API JointAccEqCost : public sco::Cost
@@ -309,7 +294,6 @@ class TRAJOPT_API JointAccEqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -323,7 +307,6 @@ class TRAJOPT_API JointAccEqCost : public sco::Cost
   int first_step_;
   /** @brief Last time step to which the term is applied */
   int last_step_;
-
 };
 
 class TRAJOPT_API JointAccIneqCost : public sco::Cost
@@ -342,7 +325,6 @@ class TRAJOPT_API JointAccIneqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -360,7 +342,6 @@ class TRAJOPT_API JointAccIneqCost : public sco::Cost
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2)*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 
 class TRAJOPT_API JointAccEqConstraint : public sco::EqConstraint
@@ -382,7 +363,6 @@ class TRAJOPT_API JointAccEqConstraint : public sco::EqConstraint
   /** Sum of violations */
   double violation(const DblVec& x);
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -414,7 +394,6 @@ class TRAJOPT_API JointAccIneqConstraint : public sco::IneqConstraint
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -432,7 +411,6 @@ class TRAJOPT_API JointAccIneqConstraint : public sco::IneqConstraint
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2)*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 
 class TRAJOPT_API JointJerkEqCost : public sco::Cost
@@ -449,7 +427,6 @@ class TRAJOPT_API JointJerkEqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -463,7 +440,6 @@ class TRAJOPT_API JointJerkEqCost : public sco::Cost
   int first_step_;
   /** @brief Last time step to which the term is applied */
   int last_step_;
-
 };
 
 class TRAJOPT_API JointJerkIneqCost : public sco::Cost
@@ -482,7 +458,6 @@ class TRAJOPT_API JointJerkIneqCost : public sco::Cost
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -500,7 +475,6 @@ class TRAJOPT_API JointJerkIneqCost : public sco::Cost
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4)*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 
 class TRAJOPT_API JointJerkEqConstraint : public sco::EqConstraint
@@ -522,7 +496,6 @@ class TRAJOPT_API JointJerkEqConstraint : public sco::EqConstraint
   /** Sum of violations */
   double violation(const DblVec& x);
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -554,7 +527,6 @@ class TRAJOPT_API JointJerkIneqConstraint : public sco::IneqConstraint
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
   sco::VarVector getVars() override { return vars_.flatten(); }
-
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -572,6 +544,5 @@ class TRAJOPT_API JointJerkIneqConstraint : public sco::IneqConstraint
   int last_step_;
   /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4)*2 */
   std::vector<sco::AffExpr> expr_vec_;
-
 };
 }  // namespace trajopt