[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

.github/workflows/cmake.yml

@@ -39,10 +39,10 @@ jobs:
     - name: Install latest ompl
       run: |
         # sudo apt install libompl-dev -y
-        cd 
+        cd
         mkdir __local
         git clone https://github.com/ompl/ompl
-        cd ompl 
+        cd ompl
         git checkout e2994e5
         mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=~/__local  && make install -j4
 

CMakeLists.txt

@@ -71,7 +71,8 @@ add_library(motion_primitives ./src/motion_primitives/motion_primitives.cpp)
 add_library(
   optimization
   ./src/optimization/ocp.cpp ./src/optimization/options.cpp
-  ./src/optimization/croco_models.cpp ./src/optimization/generate_ocp.cpp ./src/optimization/multirobot_optimization.cpp)
+  ./src/optimization/croco_models.cpp ./src/optimization/generate_ocp.cpp
+  ./src/optimization/multirobot_optimization.cpp)
 
 add_library(sst ./src/ompl/sst.cpp ./src/ompl/robots.cpp)
 add_library(rrt_to ./src/ompl/rrt_to.cpp ./src/ompl/robots.cpp)

include/dynoplan/dbastar/options.hpp

@@ -95,46 +95,51 @@ struct Time_benchmark {
   };
 };
 
-
-
 /**
-  * @brief Options for the dbastar algorithm
-  *
-  * It is used to load the options from a yaml file/boost options and to pass them to the
-  * the function dbastar. 
-  * It also prints all the options to a file.
-  *
-*/
+ * @brief Options for the dbastar algorithm
+ *
+ * It is used to load the options from a yaml file/boost options and to pass
+ * them to the the function dbastar. It also prints all the options to a file.
+ *
+ */
 struct Options_dbastar {
 
   bool fix_seed = 0; // use 1 to fix the seed of srand to 0
-  float delta = .3; // discontinuity bound
-  float alpha = .5; // How discontinuity bound is shared between expansion and reaching
+  float delta = .3;  // discontinuity bound
+  float alpha =
+      .5; // How discontinuity bound is shared between expansion and reaching
   float connect_radius_h = .5; // Connection radius for heuristic (only ROADMAP)
-  std::string motionsFile = ""; // file with motion primitives
+  std::string motionsFile = "";               // file with motion primitives
   std::vector<Motion> *motions_ptr = nullptr; // Pointer to loaded motions
-  std::string outFile = "/tmp/dynoplan/out_db.yaml"; // output file to write some results
-  float maxCost = std::numeric_limits<float>::infinity(); // Cost bound during search
-  int heuristic = 0; // which heuristic to use
-  size_t max_motions = 1e4; //  Max number of motions to use in the search
+  std::string outFile =
+      "/tmp/dynoplan/out_db.yaml"; // output file to write some results
+  float maxCost =
+      std::numeric_limits<float>::infinity(); // Cost bound during search
+  int heuristic = 0;                          // which heuristic to use
+  size_t max_motions = 1e4;   //  Max number of motions to use in the search
   double heu_resolution = .5; // used only for ROADMAP heuristic
-  double delta_factor_goal = 1; // Acceptable distance to goal (in terms of delta)
-  double cost_delta_factor = 1; // Rate to add cost to the discontinuity
+  double delta_factor_goal =
+      1; // Acceptable distance to goal (in terms of delta)
+  double cost_delta_factor = 1;    // Rate to add cost to the discontinuity
   size_t num_sample_trials = 3000; // Used in Roadmap heuristic
-  size_t max_size_heu_map = 1000; // Used in Roadmap heuristic
-  size_t max_expands = 1e6; // Max expands -- used as one of the stopping criteria
+  size_t max_size_heu_map = 1000;  // Used in Roadmap heuristic
+  size_t max_expands =
+      1e6; // Max expands -- used as one of the stopping criteria
   bool cut_actions = false; // Cut input primitives to have more primitives
   bool debug = false;
-  int limit_branching_factor = 20; // Limit on branching factor to encourage more deep search
-  bool use_collision_shape = true; // Use collision shapes (if available for the dynamics)
+  int limit_branching_factor =
+      20; // Limit on branching factor to encourage more deep search
+  bool use_collision_shape =
+      true; // Use collision shapes (if available for the dynamics)
   bool new_invariance = false; // If true, allow for system dependent invariance
-  std::vector<Heuristic_node> *heu_map_ptr = nullptr; // Pointer to a loaded heuristic map
-  std::string heu_map_file; // File that contains the heuristic map
+  std::vector<Heuristic_node> *heu_map_ptr =
+      nullptr;                   // Pointer to a loaded heuristic map
+  std::string heu_map_file;      // File that contains the heuristic map
   bool add_after_expand = false; // this does not improve cost of closed
 
-  double search_timelimit = 1e4; // in ms
+  double search_timelimit = 1e4;    // in ms
   double heu_connection_radius = 1; // connection radius for ROADMAP heuristic
-  bool use_nigh_nn = true; // use nigh for nearest neighbor. 
+  bool use_nigh_nn = true;          // use nigh for nearest neighbor.
   bool check_cols = true;
 
   void add_options(po::options_description &desc);

include/dynoplan/idbastar/idbastar.hpp

@@ -45,15 +45,17 @@ struct Info_out_idbastar : dynobench::Info_out {
 };
 
 struct Options_idbAStar {
-  double delta_0 = .3; // initial delta
-  size_t num_primitives_0 = 1000; // initial number of primitives
-  double delta_rate = .9; // rate to decrease delta
+  double delta_0 = .3;              // initial delta
+  size_t num_primitives_0 = 1000;   // initial number of primitives
+  double delta_rate = .9;           // rate to decrease delta
   double num_primitives_rate = 1.5; // rate to increase number of primitives
-  double timelimit = 10; // Time limit in seconds
-  size_t max_it = 10; // Maximum number of iterations
+  double timelimit = 10;            // Time limit in seconds
+  size_t max_it = 10;               // Maximum number of iterations
   size_t max_num_sol = 5; //  Stop when you reach this number of solutions
-  size_t max_motions_primitives = 1e4; // Maximum number of primitives to load frol file
-  bool new_schedule = true; // Schedule for delta and number of primitives of the TRO paper.
+  size_t max_motions_primitives =
+      1e4; // Maximum number of primitives to load frol file
+  bool new_schedule =
+      true; // Schedule for delta and number of primitives of the TRO paper.
   bool add_primitives_opt = true; // Add primitives after optimization
 
   void add_options(po::options_description &desc) {

include/dynoplan/optimization/multirobot_optimization.hpp

@@ -3,7 +3,7 @@
 #include <string>
 
 bool execute_optimizationMultiRobot(const std::string &env_file,
-                           const std::string &initial_guess_file,
-                           const std::string &output_file,
-                           const std::string &dynobench_base,
-                           bool sum_robots_cost);
+                                    const std::string &initial_guess_file,
+                                    const std::string &output_file,
+                                    const std::string &dynobench_base,
+                                    bool sum_robots_cost);

src/optimization/generate_ocp.cpp

@@ -101,7 +101,7 @@ generate_problem(const Generate_params &gen_args,
 
     std::vector<ptr<Cost>> feats_run;
 
-     if (gen_args.model_robot->name == "joint_robot") {
+    if (gen_args.model_robot->name == "joint_robot") {
 
       auto ptr_derived = std::dynamic_pointer_cast<dynobench::Joint_robot>(
           gen_args.model_robot);
@@ -111,7 +111,6 @@ generate_problem(const Generate_params &gen_args,
       print_vec(goal_times.data(), goal_times.size());
       CSTR_(gen_args.N);
 
-
       if (goal_times.size()) {
         Eigen::VectorXd weights = Eigen::VectorXd::Zero(nx);
         for (size_t j = 0; j < goal_times.size(); j++) {

src/optimization/main_multirobot_optimization.cpp

@@ -1,19 +1,16 @@
+#include "dynobench/multirobot_trajectory.hpp"
 #include <algorithm>
 #include <boost/program_options.hpp>
 #include <chrono>
 #include <fstream>
 #include <iostream>
 #include <iterator>
 #include <yaml-cpp/yaml.h>
-#include "dynobench/multirobot_trajectory.hpp"
 
 // OMPL headers
 
-#include <dynoplan/optimization/ocp.hpp>
 #include <dynoplan/optimization/multirobot_optimization.hpp>
-
-
-
+#include <dynoplan/optimization/ocp.hpp>
 
 int main(int argc, char *argv[]) {
 
@@ -27,12 +24,10 @@ int main(int argc, char *argv[]) {
   desc.add_options()("help", "produce help message")(
       "env,e", po::value<std::string>(&envFile)->required())(
       "init,i", po::value<std::string>(&initFile)->required())(
-      "out,o", po::value<std::string>(&outFile)->required())
-(
+      "out,o", po::value<std::string>(&outFile)->required())(
       "base,b", po::value<std::string>(&dynobench_base)->required())
 
-    (
-      "sum,s", po::value<bool>(&sum_robots_cost)->required());
+      ("sum,s", po::value<bool>(&sum_robots_cost)->required());
 
   try {
     po::variables_map vm;
@@ -49,6 +44,6 @@ int main(int argc, char *argv[]) {
     return 1;
   }
 
-  execute_optimizationMultiRobot(envFile, initFile, outFile,
-                                 dynobench_base, sum_robots_cost);
+  execute_optimizationMultiRobot(envFile, initFile, outFile, dynobench_base,
+                                 sum_robots_cost);
 }

src/optimization/multirobot_optimization.cpp

@@ -1,16 +1,15 @@
-#include <string>
 #include "dynobench/motions.hpp"
-#include <vector>
-#include <dynoplan/optimization/ocp.hpp>
 #include <dynobench/multirobot_trajectory.hpp>
 #include <dynoplan/optimization/multirobot_optimization.hpp>
-
+#include <dynoplan/optimization/ocp.hpp>
+#include <string>
+#include <vector>
 
 bool execute_optimizationMultiRobot(const std::string &env_file,
-                           const std::string &initial_guess_file,
-                           const std::string &output_file,
-                           const std::string &dynobench_base,
-                           bool sum_robots_cost) {
+                                    const std::string &initial_guess_file,
+                                    const std::string &output_file,
+                                    const std::string &dynobench_base,
+                                    bool sum_robots_cost) {
 
   using namespace dynoplan;
   using namespace dynobench;
@@ -86,7 +85,5 @@ bool execute_optimizationMultiRobot(const std::string &env_file,
   multi_out.to_yaml_format("/tmp/check5.yaml");
   multi_out.to_yaml_format(output_file.c_str());
 
-
   return true;
-
 }

test/CMakeLists.txt

@@ -6,8 +6,8 @@ find_package(Boost REQUIRED COMPONENTS unit_test_framework)
 
 add_executable(
   test_optimization
-  ./optimization/test_optimization_base.cpp 
-  ./optimization/test_optimization_0.cpp 
+  ./optimization/test_optimization_base.cpp
+  ./optimization/test_optimization_0.cpp
   ./optimization/test_optimization_1.cpp
   ./optimization/test_optimization_cli.cpp
   ./optimization/test_optimization_multirobot.cpp)

test/optimization/test_optimization_1.cpp

@@ -104,7 +104,8 @@ BOOST_AUTO_TEST_CASE(t_method_time_opti) {
 
       if (solver.name == "mpcc" && (problem.name == "quadrotor_0-recovery" ||
                                     problem.name == "quadrotor_0-window")) {
-        BOOST_TEST_WARN(false, "i skip mpcc in quadrotor_0-recovery and window");
+        BOOST_TEST_WARN(false,
+                        "i skip mpcc in quadrotor_0-recovery and window");
         continue;
       }
 

test/optimization/test_optimization_multirobot.cpp

@@ -31,7 +31,6 @@ using namespace dynobench;
 
 BOOST_AUTO_TEST_CASE(t_multi_robot_cli) {
 
-
   std::vector<std::string> run_cmd_new = {
       "../main_multirobot_optimization",
       "--env",
@@ -439,4 +438,3 @@ BOOST_AUTO_TEST_CASE(t_hetero_random_2) {
 
   multi_out.to_yaml_format("/tmp/test_gen_p10_n2_1_hetero_solution.yaml");
 }
-