format files

Signed-off-by: Paul Gesel <[email protected]>
pac48 · Nov 10, 2024 · 0a4daf7 · 0a4daf7
1 parent 347d391
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,68 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializers: BeforeComma
+BinPackParameters: true
+ColumnLimit: 90
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+ReflowComments: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true',
+    AfterControlStatement: 'true',
+    AfterEnum : 'true',
+    AfterFunction : 'true',
+    AfterNamespace : 'true',
+    AfterStruct : 'true',
+    AfterUnion : 'true',
+    BeforeCatch : 'true',
+    BeforeElse : 'true',
+    IndentBraces : 'false',
+    SplitEmptyFunction: 'false'
+}
+...
diff --git a/include/fast_inverse_kinematics/fast_inverse_kinematics.hpp b/include/fast_inverse_kinematics/fast_inverse_kinematics.hpp
@@ -1,74 +1,81 @@
 #pragma once
 
-#include "memory"
-
 #include <Eigen/Core>
 #include <Eigen/Dense>
 
+#include "memory"
+
 #ifdef FAST_FK_USE_IK
 
 #include "LBFGS.h"
-
 #include "kinematics_interface.hpp"
 
-namespace fast_fk::internal {
-    class InverseKinematics {
-    public:
-        Eigen::Matrix<float, 3, 3> target_rot_;
-        Eigen::Vector<float, 3> target_pose_;
-        std::array<std::array<float, 16>, FAST_FK_NUMBER_OF_JOINTS> joint_data = {0};
-        std::unique_ptr<LBFGSpp::LBFGSSolver<float>> solver;
-        LBFGSpp::LBFGSParam<float> param;
-
-        InverseKinematics(const Eigen::Matrix<float, 3, 3> &target_rot,
-                          const Eigen::Vector<float, 3> &target_pose) : target_rot_{target_rot},
-                                                                        target_pose_{target_pose} {
-            param.epsilon = 1E-3;
-            param.epsilon_rel = 1E-3;
-            param.max_iterations = 30;
-
-            solver = std::make_unique<LBFGSpp::LBFGSSolver<float >>(param);
-        }
-
-        fk_interface::IKSolverStats
-        inverse_kinematics(Eigen::Matrix<float, 4, 4> &transform, Eigen::VectorX<float> &q_guess) {
-            target_rot_ = transform.block<3, 3>(0, 0);
-            target_pose_(0) = transform(0, 3);
-            target_pose_(1) = transform(1, 3);
-            target_pose_(2) = transform(2, 3);
-
-            float fx = 1E10;
-            int niter;
-
-            try {
-                niter = solver->minimize(*this, q_guess, fx);
-            } catch (const std::runtime_error &e) {
-                return {fx, niter, solver->final_grad_norm(), false, e.what()};
-            }
-
-            return {fx, niter, solver->final_grad_norm(), true, ""};
-        }
-
-        float operator()(const Eigen::VectorX<float> &q, Eigen::VectorX<float> &grad);
-
-
-    };
-}
+namespace fast_fk::internal
+{
+class InverseKinematics
+{
+public:
+  Eigen::Matrix<float, 3, 3> target_rot_;
+  Eigen::Vector<float, 3> target_pose_;
+  std::array<std::array<float, 16>, FAST_FK_NUMBER_OF_JOINTS> joint_data = { 0 };
+  std::unique_ptr<LBFGSpp::LBFGSSolver<float>> solver;
+  LBFGSpp::LBFGSParam<float> param;
+
+  InverseKinematics(const Eigen::Matrix<float, 3, 3>& target_rot,
+                    const Eigen::Vector<float, 3>& target_pose)
+    : target_rot_{ target_rot }, target_pose_{ target_pose }
+  {
+    param.epsilon = 1E-3;
+    param.epsilon_rel = 1E-3;
+    param.max_iterations = 30;
+
+    solver = std::make_unique<LBFGSpp::LBFGSSolver<float>>(param);
+  }
+
+  fk_interface::IKSolverStats inverse_kinematics(Eigen::Matrix<float, 4, 4>& transform,
+                                                 Eigen::VectorX<float>& q_guess)
+  {
+    target_rot_ = transform.block<3, 3>(0, 0);
+    target_pose_(0) = transform(0, 3);
+    target_pose_(1) = transform(1, 3);
+    target_pose_(2) = transform(2, 3);
+
+    float fx = 1E10;
+    int niter;
+
+    try
+    {
+      niter = solver->minimize(*this, q_guess, fx);
+    }
+    catch(const std::runtime_error& e)
+    {
+      return { fx, niter, solver->final_grad_norm(), false, e.what() };
+    }
+
+    return { fx, niter, solver->final_grad_norm(), true, "" };
+  }
+
+  float operator()(const Eigen::VectorX<float>& q, Eigen::VectorX<float>& grad);
+};
+}  // namespace fast_fk::internal
 #else
-namespace fast_fk::internal {
-    class InverseKinematics {
-    public:
-        InverseKinematics(const Eigen::Matrix<float, 3, 3> &target_rot,
-                                             const Eigen::Vector<float, 3> &target_pose){}
-
-        fk_interface::IKSolverStats
-        inverse_kinematics(Eigen::Matrix<float, 4, 4> &transform, Eigen::VectorX<float> &q_guess) {
-            throw std::logic_error("Function not implemented.");
-            return {};
-        }
-
-        float operator()(const Eigen::VectorX<float> &q, Eigen::VectorX<float> &grad);
-
-    };
-}
+namespace fast_fk::internal
+{
+class InverseKinematics
+{
+public:
+  InverseKinematics(const Eigen::Matrix<float, 3, 3>& target_rot,
+                    const Eigen::Vector<float, 3>& target_pose)
+  {}
+
+  fk_interface::IKSolverStats inverse_kinematics(Eigen::Matrix<float, 4, 4>& transform,
+                                                 Eigen::VectorX<float>& q_guess)
+  {
+    throw std::logic_error("Function not implemented.");
+    return {};
+  }
+
+  float operator()(const Eigen::VectorX<float>& q, Eigen::VectorX<float>& grad);
+};
+}  // namespace fast_fk::internal
 #endif