diff --git a/.clang-format b/.clang-format index 9582571e..01368c4c 100644 --- a/.clang-format +++ b/.clang-format @@ -20,7 +20,7 @@ AlwaysBreakBeforeMultilineStrings: true AlwaysBreakTemplateDeclarations: true BinPackArguments: true BinPackParameters: false -BraceWrapping: +BraceWrapping: AfterClass: false AfterControlStatement: false AfterEnum: false @@ -55,12 +55,12 @@ DerivePointerAlignment: true DisableFormat: false ExperimentalAutoDetectBinPacking: false FixNamespaceComments: true -ForEachMacros: +ForEachMacros: - foreach - Q_FOREACH - BOOST_FOREACH IncludeBlocks: Preserve -IncludeCategories: +IncludeCategories: - Regex: '^' Priority: 2 - Regex: '^<.*\.h>' diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index f00df8e9..f84f2e3f 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -4,6 +4,9 @@ on: push: branches: [ master ] pull_request: + types: + - opened + - synchronize # Allows you to run this workflow manually from the Actions tab workflow_dispatch: diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml new file mode 100644 index 00000000..d3228bf2 --- /dev/null +++ b/.github/workflows/pre-commit.yml @@ -0,0 +1,21 @@ +name: pre-commit + +on: + pull_request: + types: + - opened + - synchronize + +jobs: + pre-commit: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.ref }} + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@v1 + with: + pre-commit-config: .pre-commit-config.yaml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 00000000..382db753 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,9 @@ +ci: + autofix_commit_msg: "style(pre-commit): autofix" + +repos: + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v17.0.6 + hooks: + - id: clang-format + types_or: [c++, c, cuda] diff --git a/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp b/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp index f3f316c9..889ab9b4 100644 --- a/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp +++ b/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp @@ -412,23 +412,23 @@ void pclomp::MultiGridNormalDistributionsTransform::co h_ang.row(0).noalias() = Eigen::Vector4f((-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), sx * cy, 0.0f); // a2 h_ang.row(1).noalias() = Eigen::Vector4f((-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), (-cx * cy), 0.0f); // a3 - h_ang.row(2).noalias() = Eigen::Vector4f((cx * cy * cz), (-cx * cy * sz), (cx * sy), 0.0f); // b2 - h_ang.row(3).noalias() = Eigen::Vector4f((sx * cy * cz), (-sx * cy * sz), (sx * sy), 0.0f); // b3 + h_ang.row(2).noalias() = Eigen::Vector4f((cx * cy * cz), (-cx * cy * sz), (cx * sy), 0.0f); // b2 + h_ang.row(3).noalias() = Eigen::Vector4f((sx * cy * cz), (-sx * cy * sz), (sx * sy), 0.0f); // b3 - h_ang.row(4).noalias() = Eigen::Vector4f((-sx * cz - cx * sy * sz), (sx * sz - cx * sy * cz), 0, 0.0f); // c2 - h_ang.row(5).noalias() = Eigen::Vector4f((cx * cz - sx * sy * sz), (-sx * sy * cz - cx * sz), 0, 0.0f); // c3 + h_ang.row(4).noalias() = Eigen::Vector4f((-sx * cz - cx * sy * sz), (sx * sz - cx * sy * cz), 0, 0.0f); // c2 + h_ang.row(5).noalias() = Eigen::Vector4f((cx * cz - sx * sy * sz), (-sx * sy * cz - cx * sz), 0, 0.0f); // c3 - h_ang.row(6).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), (sy), 0.0f); // d1 - h_ang.row(7).noalias() = Eigen::Vector4f((-sx * sy * cz), (sx * sy * sz), (sx * cy), 0.0f); // d2 - h_ang.row(8).noalias() = Eigen::Vector4f((cx * sy * cz), (-cx * sy * sz), (-cx * cy), 0.0f); // d3 + h_ang.row(6).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), (sy), 0.0f); // d1 + h_ang.row(7).noalias() = Eigen::Vector4f((-sx * sy * cz), (sx * sy * sz), (sx * cy), 0.0f); // d2 + h_ang.row(8).noalias() = Eigen::Vector4f((cx * sy * cz), (-cx * sy * sz), (-cx * cy), 0.0f); // d3 - h_ang.row(9).noalias() = Eigen::Vector4f((sy * sz), (sy * cz), 0, 0.0f); // e1 - h_ang.row(10).noalias() = Eigen::Vector4f((-sx * cy * sz), (-sx * cy * cz), 0, 0.0f); // e2 - h_ang.row(11).noalias() = Eigen::Vector4f((cx * cy * sz), (cx * cy * cz), 0, 0.0f); // e3 + h_ang.row(9).noalias() = Eigen::Vector4f((sy * sz), (sy * cz), 0, 0.0f); // e1 + h_ang.row(10).noalias() = Eigen::Vector4f((-sx * cy * sz), (-sx * cy * cz), 0, 0.0f); // e2 + h_ang.row(11).noalias() = Eigen::Vector4f((cx * cy * sz), (cx * cy * cz), 0, 0.0f); // e3 - h_ang.row(12).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), 0, 0.0f); // f1 - h_ang.row(13).noalias() = Eigen::Vector4f((-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), 0, 0.0f); // f2 - h_ang.row(14).noalias() = Eigen::Vector4f((-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), 0, 0.0f); // f3 + h_ang.row(12).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), 0, 0.0f); // f1 + h_ang.row(13).noalias() = Eigen::Vector4f((-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), 0, 0.0f); // f2 + h_ang.row(14).noalias() = Eigen::Vector4f((-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), 0, 0.0f); // f3 } } diff --git a/include/pclomp/ndt_omp_impl.hpp b/include/pclomp/ndt_omp_impl.hpp index 7fc5e91a..9a7e6b3b 100644 --- a/include/pclomp/ndt_omp_impl.hpp +++ b/include/pclomp/ndt_omp_impl.hpp @@ -413,23 +413,23 @@ void pclomp::NormalDistributionsTransform::computeAngl h_ang.row(0).noalias() = Eigen::Vector4f((-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), sx * cy, 0.0f); // a2 h_ang.row(1).noalias() = Eigen::Vector4f((-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), (-cx * cy), 0.0f); // a3 - h_ang.row(2).noalias() = Eigen::Vector4f((cx * cy * cz), (-cx * cy * sz), (cx * sy), 0.0f); // b2 - h_ang.row(3).noalias() = Eigen::Vector4f((sx * cy * cz), (-sx * cy * sz), (sx * sy), 0.0f); // b3 + h_ang.row(2).noalias() = Eigen::Vector4f((cx * cy * cz), (-cx * cy * sz), (cx * sy), 0.0f); // b2 + h_ang.row(3).noalias() = Eigen::Vector4f((sx * cy * cz), (-sx * cy * sz), (sx * sy), 0.0f); // b3 - h_ang.row(4).noalias() = Eigen::Vector4f((-sx * cz - cx * sy * sz), (sx * sz - cx * sy * cz), 0, 0.0f); // c2 - h_ang.row(5).noalias() = Eigen::Vector4f((cx * cz - sx * sy * sz), (-sx * sy * cz - cx * sz), 0, 0.0f); // c3 + h_ang.row(4).noalias() = Eigen::Vector4f((-sx * cz - cx * sy * sz), (sx * sz - cx * sy * cz), 0, 0.0f); // c2 + h_ang.row(5).noalias() = Eigen::Vector4f((cx * cz - sx * sy * sz), (-sx * sy * cz - cx * sz), 0, 0.0f); // c3 - h_ang.row(6).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), (sy), 0.0f); // d1 - h_ang.row(7).noalias() = Eigen::Vector4f((-sx * sy * cz), (sx * sy * sz), (sx * cy), 0.0f); // d2 - h_ang.row(8).noalias() = Eigen::Vector4f((cx * sy * cz), (-cx * sy * sz), (-cx * cy), 0.0f); // d3 + h_ang.row(6).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), (sy), 0.0f); // d1 + h_ang.row(7).noalias() = Eigen::Vector4f((-sx * sy * cz), (sx * sy * sz), (sx * cy), 0.0f); // d2 + h_ang.row(8).noalias() = Eigen::Vector4f((cx * sy * cz), (-cx * sy * sz), (-cx * cy), 0.0f); // d3 - h_ang.row(9).noalias() = Eigen::Vector4f((sy * sz), (sy * cz), 0, 0.0f); // e1 - h_ang.row(10).noalias() = Eigen::Vector4f((-sx * cy * sz), (-sx * cy * cz), 0, 0.0f); // e2 - h_ang.row(11).noalias() = Eigen::Vector4f((cx * cy * sz), (cx * cy * cz), 0, 0.0f); // e3 + h_ang.row(9).noalias() = Eigen::Vector4f((sy * sz), (sy * cz), 0, 0.0f); // e1 + h_ang.row(10).noalias() = Eigen::Vector4f((-sx * cy * sz), (-sx * cy * cz), 0, 0.0f); // e2 + h_ang.row(11).noalias() = Eigen::Vector4f((cx * cy * sz), (cx * cy * cz), 0, 0.0f); // e3 - h_ang.row(12).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), 0, 0.0f); // f1 - h_ang.row(13).noalias() = Eigen::Vector4f((-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), 0, 0.0f); // f2 - h_ang.row(14).noalias() = Eigen::Vector4f((-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), 0, 0.0f); // f3 + h_ang.row(12).noalias() = Eigen::Vector4f((-cy * cz), (cy * sz), 0, 0.0f); // f1 + h_ang.row(13).noalias() = Eigen::Vector4f((-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), 0, 0.0f); // f2 + h_ang.row(14).noalias() = Eigen::Vector4f((-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), 0, 0.0f); // f3 } } diff --git a/include/pclomp/voxel_grid_covariance_omp_impl.hpp b/include/pclomp/voxel_grid_covariance_omp_impl.hpp index 9c33eda3..24c6ed2a 100644 --- a/include/pclomp/voxel_grid_covariance_omp_impl.hpp +++ b/include/pclomp/voxel_grid_covariance_omp_impl.hpp @@ -172,7 +172,7 @@ void pclomp::VoxelGridCovariance::applyFilter(PointCloud& output) { memcpy(&rgb, reinterpret_cast(&input_->points[cp]) + rgba_index, sizeof(int)); centroid[centroid_size - 3] = static_cast((rgb >> 16) & 0x0000ff); centroid[centroid_size - 2] = static_cast((rgb >> 8) & 0x0000ff); - centroid[centroid_size - 1] = static_cast((rgb)&0x0000ff); + centroid[centroid_size - 1] = static_cast((rgb) & 0x0000ff); } pcl::for_each_type(pcl::NdCopyPointEigenFunctor(input_->points[cp], centroid)); leaf.centroid += centroid; @@ -222,7 +222,7 @@ void pclomp::VoxelGridCovariance::applyFilter(PointCloud& output) { memcpy(&rgb, reinterpret_cast(&input_->points[cp]) + rgba_index, sizeof(int)); centroid[centroid_size - 3] = static_cast((rgb >> 16) & 0x0000ff); centroid[centroid_size - 2] = static_cast((rgb >> 8) & 0x0000ff); - centroid[centroid_size - 1] = static_cast((rgb)&0x0000ff); + centroid[centroid_size - 1] = static_cast((rgb) & 0x0000ff); } pcl::for_each_type(pcl::NdCopyPointEigenFunctor(input_->points[cp], centroid)); leaf.centroid += centroid;