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

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quimortiz · Jun 10, 2024 · 18d1a86 · 18d1a86
1 parent 7451ead
commit 18d1a86
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Showing 12 changed files with 104 additions and 74 deletions.
diff --git a/include/dynoplan/dbastar/heuristics.hpp b/include/dynoplan/dbastar/heuristics.hpp
@@ -126,7 +126,7 @@ struct Heu_euclidean : Heu_fun {
     return robot->lower_bound_time(x, goal);
   }
 
-  virtual ~Heu_euclidean() override{};
+  virtual ~Heu_euclidean() override {};
 };
 
 struct Heu_blind : Heu_fun {
@@ -138,7 +138,7 @@ struct Heu_blind : Heu_fun {
     return 0;
   }
 
-  virtual ~Heu_blind() override{};
+  virtual ~Heu_blind() override {};
 };
 
 struct Heu_roadmap : Heu_fun {
@@ -181,12 +181,12 @@ struct Heu_roadmap : Heu_fun {
     return std::max(vel_h, pos_h);
   }
 
-  virtual ~Heu_roadmap() override{
+  virtual ~Heu_roadmap() override {
 
-      // robot->getSpaceInformation()->freeState(__x_zero_vel);
+    // robot->getSpaceInformation()->freeState(__x_zero_vel);
 
-      // TODO: memory leak
-      // I have to delete more stuff!!!
+    // TODO: memory leak
+    // I have to delete more stuff!!!
   };
 };
 
@@ -213,7 +213,7 @@ template <typename _T, typename _Node> struct Heu_roadmap_bwd : Heu_fun {
     }
   }
 
-  virtual ~Heu_roadmap_bwd() override{};
+  virtual ~Heu_roadmap_bwd() override {};
 };
 
 void build_heuristic_distance_new(

diff --git a/include/dynoplan/optimization/croco_models.hpp b/include/dynoplan/optimization/croco_models.hpp
@@ -117,7 +117,7 @@ struct StateCrocoDyno : crocoddyl::StateAbstractTpl<double> {
   bool use_pin = true;
   std::shared_ptr<dynobench::StateDyno> state;
   explicit StateCrocoDyno(const std::shared_ptr<dynobench::StateDyno> &state)
-      : StateAbstractTpl<Scalar>(state->nx, state->ndx), state(state){};
+      : StateAbstractTpl<Scalar>(state->nx, state->ndx), state(state) {};
 
   virtual ~StateCrocoDyno() {}
 
@@ -276,7 +276,7 @@ struct Dynamics {
   Eigen::VectorXd x_ub;
   Eigen::VectorXd x_weightb;
 
-  virtual ~Dynamics(){};
+  virtual ~Dynamics() {};
 };
 
 struct Cost {
@@ -479,7 +479,7 @@ struct Dynamics_free_time {
   Eigen::VectorXd x_ub;
   Eigen::VectorXd x_weightb;
 
-  virtual ~Dynamics_free_time(){};
+  virtual ~Dynamics_free_time() {};
 };
 
 struct Quaternion_cost : Cost {

diff --git a/src/dbastar/dbastar.cpp b/src/dbastar/dbastar.cpp
@@ -288,8 +288,8 @@ void from_solution_to_yaml_and_traj(dynobench::Model_robot &robot,
     }
     DYNO_CHECK_LEQ(take_num_actions, motion.actions.size(), AT);
     if (out) {
-      *out << space6 + "# " << "take_num_actions " << take_num_actions
-           << std::endl;
+      *out << space6 + "# "
+           << "take_num_actions " << take_num_actions << std::endl;
     }
 
     for (size_t k = 0; k < take_num_actions; ++k) {
@@ -703,19 +703,22 @@ void dbastar(const dynobench::Problem &problem, Options_dbastar options_dbastar,
     if (static_cast<size_t>(time_bench.expands) >=
         options_dbastar.max_expands) {
       status = Terminate_status::MAX_EXPANDS;
-      std::cout << "BREAK search:" << "MAX_EXPANDS" << std::endl;
+      std::cout << "BREAK search:"
+                << "MAX_EXPANDS" << std::endl;
       return true;
     }
 
     if (watch.elapsed_ms() > options_dbastar.search_timelimit) {
       status = Terminate_status::MAX_TIME;
-      std::cout << "BREAK search:" << "MAX_TIME" << std::endl;
+      std::cout << "BREAK search:"
+                << "MAX_TIME" << std::endl;
       return true;
     }
 
     if (open.empty()) {
       status = Terminate_status::EMPTY_QUEUE;
-      std::cout << "BREAK search:" << "EMPTY_QUEUE" << std::endl;
+      std::cout << "BREAK search:"
+                << "EMPTY_QUEUE" << std::endl;
       return true;
     }
 

diff --git a/src/dbrrt/dbrrt.cpp b/src/dbrrt/dbrrt.cpp
@@ -497,14 +497,16 @@ void dbrrtConnect(const dynobench::Problem &problem,
   auto stop_search = [&] {
     if (static_cast<size_t>(time_bench.expands) >= options_dbrrt.max_expands) {
       status = Terminate_status::MAX_EXPANDS;
-      std::cout << "BREAK search:" << "MAX_EXPANDS" << std::endl;
+      std::cout << "BREAK search:"
+                << "MAX_EXPANDS" << std::endl;
 
       return true;
     }
 
     if (watch.elapsed_ms() > options_dbrrt.timelimit) {
       status = Terminate_status::MAX_TIME;
-      std::cout << "BREAK search:" << "MAX_TIME" << std::endl;
+      std::cout << "BREAK search:"
+                << "MAX_TIME" << std::endl;
       return true;
     }
     return false;
@@ -1049,14 +1051,16 @@ void dbrrt(const dynobench::Problem &problem,
   auto stop_search = [&] {
     if (static_cast<size_t>(time_bench.expands) >= options_dbrrt.max_expands) {
       status = Terminate_status::MAX_EXPANDS;
-      std::cout << "BREAK search:" << "MAX_EXPANDS" << std::endl;
+      std::cout << "BREAK search:"
+                << "MAX_EXPANDS" << std::endl;
 
       return true;
     }
 
     if (watch.elapsed_ms() > options_dbrrt.timelimit) {
       status = Terminate_status::MAX_TIME;
-      std::cout << "BREAK search:" << "MAX_TIME" << std::endl;
+      std::cout << "BREAK search:"
+                << "MAX_TIME" << std::endl;
       return true;
     }
     return false;
@@ -1116,8 +1120,9 @@ void dbrrt(const dynobench::Problem &problem,
     if (options_dbrrt.ao_rrt &&
         near_node->gScore + near_node->hScore >
             options_dbrrt.best_cost_prune_factor * cost_bound) {
-      std::cout << "warning! " << "cost of near is above bound -- "
-                << near_node->gScore << " " << cost_bound << std::endl;
+      std::cout << "warning! "
+                << "cost of near is above bound -- " << near_node->gScore << " "
+                << cost_bound << std::endl;
       continue;
     }
 

diff --git a/src/idbastar/idbastar.cpp b/src/idbastar/idbastar.cpp
@@ -280,8 +280,8 @@ void idbA(const dynobench::Problem &problem,
                          std::make_move_iterator(motions_out.end()));
 
           std::cout << "Afer insert " << motions.size() << std::endl;
-          std::cout << "Warning: " << "I am inserting at the beginning"
-                    << std::endl;
+          std::cout << "Warning: "
+                    << "I am inserting at the beginning" << std::endl;
 
           std::cout << "i update the idx of the motions " << std::endl;
           // Very important to update the idx of the motions

diff --git a/src/motion_primitives/main_primitives.cpp b/src/motion_primitives/main_primitives.cpp
@@ -379,7 +379,8 @@ int main(int argc, const char *argv[]) {
     }
     CSTR_(trajectories.data.size());
     trajectories.compute_stats(out_file.c_str());
-    std::cout << "writing stats to " << "/tmp/tmp_stats.yaml" << std::endl;
+    std::cout << "writing stats to "
+              << "/tmp/tmp_stats.yaml" << std::endl;
     std::filesystem::copy(out_file, "/tmp/tmp_stats.yaml",
                           std::filesystem::copy_options::overwrite_existing);
   }

diff --git a/src/motion_primitives/motion_primitives.cpp b/src/motion_primitives/motion_primitives.cpp
@@ -334,8 +334,8 @@ void split_motion_primitives(const dynobench::Trajectories &in,
       }
 
       dynobench::Trajectory new_traj;
-      std::cout << "i: " << i << " " << "start: " << start
-                << " length:" << length << std::endl;
+      std::cout << "i: " << i << " "
+                << "start: " << start << " length:" << length << std::endl;
       new_traj.states = std::vector<Eigen::VectorXd>{
           traj.states.begin() + start,
           traj.states.begin() + start + length + 1};

diff --git a/src/ompl/robots.cpp b/src/ompl/robots.cpp
@@ -3114,8 +3114,8 @@ void load_motion_primitives_new(const std::string &motionsFile,
   CSTR_(add_noise_first_state);
 
   if (add_noise_first_state) {
-    std::cout << "WARNING:" << "adding noise to first and last state"
-              << std::endl;
+    std::cout << "WARNING:"
+              << "adding noise to first and last state" << std::endl;
     const double noise = 1e-7;
     for (auto &t : trajs.data) {
       t.states.front() +=

diff --git a/src/ompl/sst.cpp b/src/ompl/sst.cpp
@@ -422,8 +422,10 @@ void solve_sst(const dynobench::Problem &problem,
       auto &state = states.at(i);
       auto &edge = edges.at(i);
       out << "- " << std::endl;
-      out << " " << "x: " << state.format(FMT) << std::endl;
-      out << " " << "e: ";
+      out << " "
+          << "x: " << state.format(FMT) << std::endl;
+      out << " "
+          << "e: ";
       print_vec(edge.data(), edge.size(), out);
     }
   }

diff --git a/src/optimization/croco_models.cpp b/src/optimization/croco_models.cpp
@@ -165,21 +165,21 @@ void check_input_calc(Eigen::Ref<Eigen::VectorXd> xnext,
                       const Eigen::Ref<const Vxd> &u, size_t nx, size_t nu) {
 
   if (static_cast<std::size_t>(x.size()) != nx) {
-    throw_pretty(
-        "Invalid argument: " << "x has wrong dimension (it should be " +
-                                    std::to_string(nx) + ")");
+    throw_pretty("Invalid argument: "
+                 << "x has wrong dimension (it should be " +
+                        std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(u.size()) != nu) {
-    throw_pretty(
-        "Invalid argument: " << "x has wrong dimension (it should be " +
-                                    std::to_string(nu) + ")");
+    throw_pretty("Invalid argument: "
+                 << "x has wrong dimension (it should be " +
+                        std::to_string(nu) + ")");
   }
 
   if (static_cast<std::size_t>(xnext.size()) != nx) {
-    throw_pretty(
-        "Invalid argument: " << "xnext has wrong dimension (it should be " +
-                                    std::to_string(nx) + ")");
+    throw_pretty("Invalid argument: "
+                 << "xnext has wrong dimension (it should be " +
+                        std::to_string(nx) + ")");
   }
 };
 
@@ -190,38 +190,38 @@ void check_input_calcdiff(Eigen::Ref<Eigen::MatrixXd> Fx,
                           size_t nu) {
 
   if (static_cast<std::size_t>(x.size()) != nx) {
-    throw_pretty(
-        "Invalid argument: " << "x has wrong dimension (it should be " +
-                                    std::to_string(nx) + ")");
+    throw_pretty("Invalid argument: "
+                 << "x has wrong dimension (it should be " +
+                        std::to_string(nx) + ")");
   }
   if (static_cast<std::size_t>(u.size()) != nu) {
-    throw_pretty(
-        "Invalid argument: " << "u has wrong dimension (it should be " +
-                                    std::to_string(nu) + ")");
+    throw_pretty("Invalid argument: "
+                 << "u has wrong dimension (it should be " +
+                        std::to_string(nu) + ")");
   }
 
   if (static_cast<std::size_t>(Fx.cols()) != nx) {
-    throw_pretty(
-        "Invalid argument: " << "Fx has wrong dimension (it should be " +
-                                    std::to_string(nx) + ")");
+    throw_pretty("Invalid argument: "
+                 << "Fx has wrong dimension (it should be " +
+                        std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(Fx.rows()) != nx) {
-    throw_pretty(
-        "Invalid argument: " << "Fx has wrong dimension (it should be " +
-                                    std::to_string(nx) + ")");
+    throw_pretty("Invalid argument: "
+                 << "Fx has wrong dimension (it should be " +
+                        std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(Fu.cols()) != nu) {
-    throw_pretty(
-        "Invalid argument: " << "Fu has wrong dimension (it should be " +
-                                    std::to_string(nx) + ")");
+    throw_pretty("Invalid argument: "
+                 << "Fu has wrong dimension (it should be " +
+                        std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(Fu.rows()) != nx) {
-    throw_pretty(
-        "Invalid argument: " << "Fu has wrong dimension (it should be " +
-                                    std::to_string(nx) + ")");
+    throw_pretty("Invalid argument: "
+                 << "Fu has wrong dimension (it should be " +
+                        std::to_string(nx) + ")");
   }
 }