Merge pull request jrl-umi3218#439 from jrl-umi3218/pre-commit-ci-upd…

…ate-config

[pre-commit.ci] pre-commit autoupdate

.pre-commit-config.yaml

@@ -11,7 +11,7 @@ repos:
   - id: check-useless-excludes
   - id: check-hooks-apply
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v17.0.6
+  rev: v18.1.1
   hooks:
   - id: clang-format
     'types_or': [c++, c]

include/mc_control/ControllerClient.h

@@ -185,7 +185,7 @@ struct MC_CONTROL_CLIENT_DLLAPI ControllerClient
   virtual void stopped() {}
 
   /** Should be implemented to create a new category container */
-  virtual void category(const std::vector<std::string> & parent, const std::string & category){};
+  virtual void category(const std::vector<std::string> & parent, const std::string & category) {};
 
   /** Should be implemented to create a label for data that can be displayed as string */
   inline virtual void label(const ElementId & id, const std::string &) { default_impl("Label", id); }

include/mc_rbdyn/gui/RobotSurface.h

@@ -10,9 +10,8 @@
 namespace mc_rbdyn::gui
 {
 
-static const mc_rtc::gui::LineConfig defaultSurfaceConfig = []() {
-  return mc_rtc::gui::LineConfig{mc_rtc::gui::Color::Green, 0.01};
-}();
+static const mc_rtc::gui::LineConfig defaultSurfaceConfig = []()
+{ return mc_rtc::gui::LineConfig{mc_rtc::gui::Color::Green, 0.01}; }();
 
 /** Helper function to create a GUI element from a surface object inside a robot
  *

include/mc_rtc/gui/plot/AbscissaOrdinate.h

@@ -129,21 +129,15 @@ auto XY(std::string_view name,
   if constexpr(std::is_same_v<std::decay_t<MaybeGetColor>, Color>)
   {
     return impl::AbscissaOrdinate(
-        name,
-        [get_x_fn, get_y_fn](XYCacheT & cache) {
-          cache.push_back({get_x_fn(), get_y_fn()});
-        },
-        color, style, side);
+        name, [get_x_fn, get_y_fn](XYCacheT & cache) { cache.push_back({get_x_fn(), get_y_fn()}); }, color, style,
+        side);
   }
   else
   {
     static_assert(details::CheckReturnType<MaybeGetColor, Color>::value, "XY color callback should return a color");
     return impl::AbscissaOrdinateWithColor(
-        name,
-        [get_x_fn, get_y_fn](XYCacheT & cache) {
-          cache.push_back({get_x_fn(), get_y_fn()});
-        },
-        color, style, side);
+        name, [get_x_fn, get_y_fn](XYCacheT & cache) { cache.push_back({get_x_fn(), get_y_fn()}); }, color, style,
+        side);
   }
 }
 

include/mc_rtc/log/Logger.h

@@ -221,9 +221,8 @@ struct MC_RTC_UTILS_DLLAPI Logger
     }
     auto log_type = log::callback_is_serializable<CallbackT>::log_type;
     log_events_.push_back(KeyAddedEvent{log_type, name});
-    log_entries_.push_back({log_type, name, source, [get_fn](mc_rtc::MessagePackBuilder & builder) mutable {
-                              mc_rtc::log::LogWriter<base_t>::write(get_fn(), builder);
-                            }});
+    log_entries_.push_back({log_type, name, source, [get_fn](mc_rtc::MessagePackBuilder & builder) mutable
+                            { mc_rtc::log::LogWriter<base_t>::write(get_fn(), builder); }});
   }
 
   /** Add a log entry from a source and a compile-time pointer to member
@@ -248,8 +247,7 @@ struct MC_RTC_UTILS_DLLAPI Logger
   void addLogEntry(const std::string & name, const SourceT * source, bool overwrite = false)
   {
     using MemberT = decltype(source->*member);
-    addLogEntry(
-        name, source, [source]() -> const MemberT & { return source->*member; }, overwrite);
+    addLogEntry(name, source, [source]() -> const MemberT & { return source->*member; }, overwrite);
   }
 
   /** Add a log entry from a source and a compile-time pointer to method
@@ -274,8 +272,7 @@ struct MC_RTC_UTILS_DLLAPI Logger
   void addLogEntry(const std::string & name, const SourceT * source, bool overwrite = false)
   {
     using MethodRetT = decltype((source->*method)());
-    addLogEntry(
-        name, source, [source]() -> MethodRetT { return (source->*method)(); }, overwrite);
+    addLogEntry(name, source, [source]() -> MethodRetT { return (source->*method)(); }, overwrite);
   }
 
   /** Add a log entry into the log with no source

include/mc_rtc/log/iterate_binary_log.h

@@ -81,9 +81,8 @@ inline bool iterate_binary_log(const std::string & fpath,
                                const std::string & time = "t")
 {
   return iterate_binary_log(
-      fpath,
-      [&callback](IterateBinaryLogData data) { return callback(data.keys, data.records, data.time.value_or(-1)); },
-      extract, time);
+      fpath, [&callback](IterateBinaryLogData data)
+      { return callback(data.keys, data.records, data.time.value_or(-1)); }, extract, time);
 }
 
 } // namespace mc_rtc::log

include/mc_tasks/SplineTrajectoryTask.hpp

@@ -383,8 +383,8 @@ void SplineTrajectoryTask<Derived>::addToGUI(mc_rtc::gui::StateBuilder & gui)
 {
   TrajectoryTask::addToGUI(gui);
 
-  gui.addElement({"Tasks", name_}, mc_rtc::gui::Checkbox(
-                                       "Paused", [this]() { return paused_; }, [this]() { paused_ = !paused_; }));
+  gui.addElement({"Tasks", name_},
+                 mc_rtc::gui::Checkbox("Paused", [this]() { return paused_; }, [this]() { paused_ = !paused_; }));
   gui.addElement({"Tasks", name_}, mc_rtc::gui::Transform("Surface pose", [this]() { return frame_->position(); }));
 
   gui.addElement({"Tasks", name_}, mc_rtc::gui::Rotation(

plugins/ROS/src/mc_tasks_ros/LookAtTFTask.cpp

@@ -103,4 +103,4 @@ static auto registered = mc_tasks::MetaTaskLoader::register_load_function(
       t->load(solver, config);
       return t;
     });
-}
+} // namespace

src/mc_control/MCController.cpp

@@ -415,9 +415,8 @@ void MCController::addRobotToGUI(const mc_rbdyn::Robot & r)
   data("joints").add(r.name(), r.module().ref_joint_order());
   data("frames").add(r.name(), r.frames());
   auto name = r.name();
-  gui()->addElement(
-      {"Robots"},
-      mc_rtc::gui::Robot(r.name(), [name, this]() -> const mc_rbdyn::Robot & { return this->outputRobot(name); }));
+  gui()->addElement({"Robots"}, mc_rtc::gui::Robot(r.name(), [name, this]() -> const mc_rbdyn::Robot &
+                                                   { return this->outputRobot(name); }));
 }
 
 void MCController::addRobotToLog(const mc_rbdyn::Robot & r)
@@ -493,40 +492,32 @@ void MCController::addRobotToLog(const mc_rbdyn::Robot & r)
   {
     logger().addLogEntry(entry("ff"),
                          [this, name]() -> const sva::PTransformd & { return outputRobot(name).mbc().bodyPosW[0]; });
-    logger().addLogEntry(entry("ff_real"),
-                         [this, name]() -> const sva::PTransformd &
+    logger().addLogEntry(entry("ff_real"), [this, name]() -> const sva::PTransformd &
                          { return outputRealRobot(name).mbc().bodyPosW[0]; });
   }
   // Log all force sensors
   for(const auto & fs : robot(name).forceSensors())
   {
     const auto & fs_name = fs.name();
-    logger().addLogEntry(entry_str(fs.name()),
-                         [this, name, fs_name]() -> const sva::ForceVecd &
+    logger().addLogEntry(entry_str(fs.name()), [this, name, fs_name]() -> const sva::ForceVecd &
                          { return robot(name).forceSensor(fs_name).wrench(); });
   }
   // Log all body sensors
   const auto & bodySensors = robot(name).bodySensors();
   for(size_t i = 0; i < bodySensors.size(); ++i)
   {
     const auto & bs_name = bodySensors[i].name();
-    logger().addLogEntry(entry_str(bs_name + "_position"),
-                         [this, name, bs_name]() -> const Eigen::Vector3d &
+    logger().addLogEntry(entry_str(bs_name + "_position"), [this, name, bs_name]() -> const Eigen::Vector3d &
                          { return robot(name).bodySensor(bs_name).position(); });
-    logger().addLogEntry(entry_str(bs_name + "_orientation"),
-                         [this, name, bs_name]() -> const Eigen::Quaterniond &
+    logger().addLogEntry(entry_str(bs_name + "_orientation"), [this, name, bs_name]() -> const Eigen::Quaterniond &
                          { return robot(name).bodySensor(bs_name).orientation(); });
-    logger().addLogEntry(entry_str(bs_name + "_linearVelocity"),
-                         [this, name, bs_name]() -> const Eigen::Vector3d &
+    logger().addLogEntry(entry_str(bs_name + "_linearVelocity"), [this, name, bs_name]() -> const Eigen::Vector3d &
                          { return robot(name).bodySensor(bs_name).linearVelocity(); });
-    logger().addLogEntry(entry_str(bs_name + "_angularVelocity"),
-                         [this, name, bs_name]() -> const Eigen::Vector3d &
+    logger().addLogEntry(entry_str(bs_name + "_angularVelocity"), [this, name, bs_name]() -> const Eigen::Vector3d &
                          { return robot(name).bodySensor(bs_name).angularVelocity(); });
-    logger().addLogEntry(entry_str(bs_name + "_linearAcceleration"),
-                         [this, name, bs_name]() -> const Eigen::Vector3d &
+    logger().addLogEntry(entry_str(bs_name + "_linearAcceleration"), [this, name, bs_name]() -> const Eigen::Vector3d &
                          { return robot(name).bodySensor(bs_name).linearAcceleration(); });
-    logger().addLogEntry(entry_str(bs_name + "_angularAcceleration"),
-                         [this, name, bs_name]() -> const Eigen::Vector3d &
+    logger().addLogEntry(entry_str(bs_name + "_angularAcceleration"), [this, name, bs_name]() -> const Eigen::Vector3d &
                          { return robot(name).bodySensor(bs_name).angularAcceleration(); });
   }
   // Log all joint sensors
@@ -766,8 +757,7 @@ void MCController::reset(const ControllerResetData & reset_data)
                          mc_rtc::gui::FormNumberInput("Friction", false, mc_rbdyn::Contact::defaultFriction),
                          mc_rtc::gui::FormArrayInput<Eigen::Vector6d>("dof", false, Eigen::Vector6d::Ones())));
   }
-  logger().addLogEntry(
-      "perf_UpdateContacts", [this]() { return updateContacts_dt_.count(); }, true);
+  logger().addLogEntry("perf_UpdateContacts", [this]() { return updateContacts_dt_.count(); }, true);
 }
 
 void MCController::updateContacts()

src/mc_control/fsm/Executor.cpp

@@ -63,8 +63,7 @@ void Executor::init(Controller & ctl,
   else { log_entry += "_Main"; }
   ctl.logger().addLogEntry(log_entry, this, [this]() { return curr_state_; });
   log_entry = "perf_" + log_entry;
-  ctl.logger().addLogEntry(log_entry, this,
-                           [this]()
+  ctl.logger().addLogEntry(log_entry, this, [this]()
                            { return state_create_dt_.count() + state_run_dt_.count() + state_teardown_dt_.count(); });
   ctl.logger().addLogEntry(log_entry + "_create", this, [this]() { return state_create_dt_.count(); });
   ctl.logger().addLogEntry(log_entry + "_run", this, [this]() { return state_run_dt_.count(); });

src/mc_control/fsm/states/Message.cpp

@@ -39,9 +39,7 @@ void MessageState::start(Controller & ctl)
     else if(logType_ == "success") { mc_rtc::log::success(message); }
     else if(logType_ == "warning") { mc_rtc::log::warning(message); }
     else if(logType_ == "error") { mc_rtc::log::error(message); }
-    else if(logType_ == "none")
-    { /* Do not log anything to the terminal */
-    }
+    else if(logType_ == "none") { /* Do not log anything to the terminal */ }
     else
     {
       mc_rtc::log::error("{} Provided log type {} is invalid, assuming info. Supported types are [info, success, "

src/mc_control/mc_global_controller_gui.cpp

@@ -43,11 +43,10 @@ void MCGlobalController::initGUI()
         targetCat.push_back("Targets");
         for(const auto & joint : g_ptr->activeJoints())
         {
-          gui->addElement(targetCat,
-                          mc_rtc::gui::NumberSlider(
-                              joint, [joint, g_ptr]() { return g_ptr->curOpening(joint); },
-                              [joint, g_ptr](double targetOpening) { g_ptr->setTargetOpening(joint, targetOpening); },
-                              0, 1));
+          gui->addElement(targetCat, mc_rtc::gui::NumberSlider(
+                                         joint, [joint, g_ptr]() { return g_ptr->curOpening(joint); },
+                                         [joint, g_ptr](double targetOpening)
+                                         { g_ptr->setTargetOpening(joint, targetOpening); }, 0, 1));
         }
 
         category.push_back("Safety");

src/mc_observers/EncoderObserver.cpp

@@ -173,8 +173,7 @@ void EncoderObserver::addToLogger(const mc_control::MCController & ctl,
     }
     else if(velUpdate_ == VelUpdate::EncoderVelocities)
     {
-      logger.addLogEntry(category + "_encoderVelocities", this,
-                         [this, &ctl]() -> const std::vector<double> &
+      logger.addLogEntry(category + "_encoderVelocities", this, [this, &ctl]() -> const std::vector<double> &
                          { return ctl.robot(robot_).encoderVelocities(); });
     }
     else if(velUpdate_ == VelUpdate::Control)

src/mc_rbdyn/gui/RobotSurface.cpp

@@ -26,11 +26,8 @@ std::vector<std::string> addSurfaceToGUI(mc_rtc::gui::StateBuilder & gui,
   {
     const auto & cylinder = dynamic_cast<const mc_rbdyn::CylindricalSurface &>(surface);
     publish_surface(mc_rtc::gui::Cylinder(
-        publishName.value_or(name),
-        [&cylinder]() {
-          return mc_rtc::gui::CylinderParameters{cylinder.radius(), cylinder.width()};
-        },
-        get_pose, cfg.color));
+        publishName.value_or(name), [&cylinder]()
+        { return mc_rtc::gui::CylinderParameters{cylinder.radius(), cylinder.width()}; }, get_pose, cfg.color));
   }
   else if(surface.type() == "planar")
   {

src/mc_robots/json.cpp

@@ -45,6 +45,6 @@ static auto registered = []()
   mc_rbdyn::RobotLoader::register_object("json", callback);
   return true;
 }();
-}
+} // namespace
 
 #endif

src/mc_robots/jvrc1.cpp

@@ -177,6 +177,6 @@ static auto registered = []()
   mc_rbdyn::RobotLoader::register_object("JVRC1Fixed", fn_t([]() { return new mc_robots::JVRC1RobotModule(true); }));
   return true;
 }();
-}
+} // namespace
 
 #endif

src/mc_rtc/iterate_binary_log.cpp

@@ -90,10 +90,10 @@ bool iterate_binary_log(const std::string & f,
       }
       return keys_str;
     }();
-    if(!callback(IterateBinaryLogData{keys_str, log.records(), events, t,
-                                      [&log](mc_rtc::MessagePackBuilder & builder,
-                                             const std::vector<std::string> & keys) { log.copy(builder, keys); },
-                                      buffer.data(), entrySize, meta}))
+    if(!callback(
+           IterateBinaryLogData{keys_str, log.records(), events, t,
+                                [&log](mc_rtc::MessagePackBuilder & builder, const std::vector<std::string> & keys)
+                                { log.copy(builder, keys); }, buffer.data(), entrySize, meta}))
     {
       return false;
     }

src/mc_rtc/loader.in.cpp

@@ -212,8 +212,7 @@ void Loader::load_libraries(const std::string & class_name,
     std::vector<bfs::path> drange;
     std::copy(dit, endit, std::back_inserter(drange));
     // Sort by newest file
-    std::sort(drange.begin(), drange.end(),
-              [](const bfs::path & p1, const bfs::path & p2)
+    std::sort(drange.begin(), drange.end(), [](const bfs::path & p1, const bfs::path & p2)
               { return bfs::last_write_time(p1) > bfs::last_write_time(p2); });
     for(const auto & p : drange)
     {

src/mc_solver/BoundedSpeedConstr.cpp

@@ -42,11 +42,9 @@ struct TVMBoundedSpeedConstr
 
   std::vector<BoundedSpeedData>::iterator getData(const mc_rbdyn::RobotFrame & frame)
   {
-    return std::find_if(data_.begin(), data_.end(),
-                        [&](const auto & d) {
-                          return d.fn->frame().name() == frame.name()
-                                 && d.fn->frame().robot().name() == frame.robot().name();
-                        });
+    return std::find_if(
+        data_.begin(), data_.end(), [&](const auto & d)
+        { return d.fn->frame().name() == frame.name() && d.fn->frame().robot().name() == frame.robot().name(); });
   }
 
   void addBoundedSpeed(TVMQPSolver * solver,
@@ -391,4 +389,4 @@ static auto registered = mc_solver::ConstraintSetLoader::register_load_function(
       }
       return ret;
     });
-}
+} // namespace

src/mc_solver/CoMIncPlaneConstr.cpp

@@ -277,4 +277,4 @@ static auto registered = mc_solver::ConstraintSetLoader::register_load_function(
           solver.robots(), robotIndexFromConfig(config, solver.robots(), "CoMIncPlane"), solver.dt());
       return ret;
     });
-}
+} // namespace

src/mc_solver/CollisionsConstraint.cpp

@@ -629,4 +629,4 @@ static auto registered = mc_solver::ConstraintSetLoader::register_load_function(
       ret->addCollisions(solver, collisions);
       return ret;
     });
-}
+} // namespace

src/mc_solver/CompoundJointConstraint.cpp

@@ -208,4 +208,4 @@ static auto registered = mc_solver::ConstraintSetLoader::register_load_function(
       }
       else { return std::make_shared<mc_solver::CompoundJointConstraint>(solver.robots(), rIndex, solver.dt()); }
     });
-}
+} // namespace

src/mc_solver/ContactConstraint.cpp

@@ -106,4 +106,4 @@ static auto registered = mc_solver::ConstraintSetLoader::register_load_function(
       }
       return std::make_shared<mc_solver::ContactConstraint>(solver.dt(), cType);
     });
-}
+} // namespace

src/mc_solver/TVMQPSolver.cpp

@@ -390,9 +390,8 @@ auto TVMQPSolver::addVirtualContactImpl(const mc_rbdyn::Contact & contact) -> st
                          [this, contact]() { return desiredContactForce(contact); });
     gui_->addElement({"Contacts", "Forces"},
                      mc_rtc::gui::Force(
-                         fmt::format("{}::{}/{}::{}", r1.name(), f1.name(), r2.name(), f2.name()),
-                         [this, contact]() { return desiredContactForce(contact); },
-                         [&f1]() { return f1.position(); }));
+                         fmt::format("{}::{}/{}::{}", r1.name(), f1.name(), r2.name(), f2.name()), [this, contact]()
+                         { return desiredContactForce(contact); }, [&f1]() { return f1.position(); }));
   }
   else
   {

src/mc_solver/TasksQPSolver.cpp

@@ -98,8 +98,7 @@ void TasksQPSolver::setContacts(ControllerToken, const std::vector<mc_rbdyn::Con
       gui_->addElement({"Contacts", "Forces"},
                        mc_rtc::gui::Force(
                            fmt::format("{}::{}/{}::{}", r1, r1S, r2, r2S),
-                           [this, &contact]() { return desiredContactForce(contact); },
-                           [this, &contact]()
+                           [this, &contact]() { return desiredContactForce(contact); }, [this, &contact]()
                            { return robots().robot(contact.r1Index()).surfacePose(contact.r1Surface()->name()); }));
     }
   }

src/mc_tasks/AdmittanceTask.cpp

@@ -167,4 +167,4 @@ static auto registered = mc_tasks::MetaTaskLoader::register_load_function(
       t->load(solver, config);
       return t;
     });
-}
+} // namespace

src/mc_tasks/BSplineTrajectoryTask.cpp

@@ -159,4 +159,4 @@ static auto registered = mc_tasks::MetaTaskLoader::register_load_function(
       t->pause(config("paused", false));
       return t;
     });
-}
+} // namespace

src/mc_tasks/CoMTask.cpp

@@ -144,4 +144,4 @@ static auto registered = mc_tasks::MetaTaskLoader::register_load_function(
       t->load(solver, config);
       return t;
     });
-}
+} // namespace

src/mc_tasks/CoPTask.cpp

@@ -156,4 +156,4 @@ static auto registered = mc_tasks::MetaTaskLoader::register_load_function(
       t->load(solver, config);
       return t;
     });
-}
+} // namespace

src/mc_tasks/ComplianceTask.cpp

@@ -207,4 +207,4 @@ static auto registered = mc_tasks::MetaTaskLoader::register_load_function(
       t->load(solver, config);
       return t;
     });
-}
+} // namespace

src/mc_tasks/DampingTask.cpp

@@ -80,4 +80,4 @@ static auto registered = mc_tasks::MetaTaskLoader::register_load_function(
       t->load(solver, config);
       return t;
     });
-}
+} // namespace