reformat clang-format with 100 column width

.clang-format

@@ -55,7 +55,7 @@ AlignTrailingComments: false # Should be off, causes many dummy problems!!
 BreakBeforeBraces: Allman
 #BreakBeforeTernaryOperators: true
 #BreakConstructorInitializersBeforeComma: false
-ColumnLimit: 80
+ColumnLimit: 100
 #CommentPragmas:  ''
 #ConstructorInitializerAllOnOneLineOrOnePerLine: true
 #ConstructorInitializerIndentWidth: 4

clang-formatter.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+find mrpt_*/ -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format-14 -i

mrpt_map_server/include/mrpt_map_server/map_server_node.h

@@ -38,10 +38,8 @@ class MapServer : public rclcpp::Node
 
 	std::string frame_id_ = "map";
 
-	rclcpp::Service<nav_msgs::srv::GetMap>::SharedPtr
-		m_service_map;	//!< service for map server
-	nav_msgs::srv::GetMap::Response
-		m_response_ros;	 //!< response from the map server
+	rclcpp::Service<nav_msgs::srv::GetMap>::SharedPtr m_service_map;  //!< service for map server
+	nav_msgs::srv::GetMap::Response m_response_ros;	 //!< response from the map server
 
 	/// metric map: will be used whatever is the incoming map format.
 	mp2p_icp::metric_map_t theMap_;
@@ -98,34 +96,24 @@ class MapServer : public rclcpp::Node
 
 	// clang-format on
 
-	sensor_msgs::msg::PointCloud2 pointmap_layer_to_msg(
-		const mrpt::maps::CPointsMap::Ptr& pts);
+	sensor_msgs::msg::PointCloud2 pointmap_layer_to_msg(const mrpt::maps::CPointsMap::Ptr& pts);
 
 	// Services:
-	rclcpp::Service<mrpt_nav_interfaces::srv::GetLayers>::SharedPtr
-		srvMapLayers_;
+	rclcpp::Service<mrpt_nav_interfaces::srv::GetLayers>::SharedPtr srvMapLayers_;
 
 	void srv_map_layers(
 		const std::shared_ptr<mrpt_nav_interfaces::srv::GetLayers::Request> req,
 		std::shared_ptr<mrpt_nav_interfaces::srv::GetLayers::Response> resp);
 
-	rclcpp::Service<mrpt_nav_interfaces::srv::GetGridmapLayer>::SharedPtr
-		srvGetGrid_;
+	rclcpp::Service<mrpt_nav_interfaces::srv::GetGridmapLayer>::SharedPtr srvGetGrid_;
 
 	void srv_get_gridmap(
-		const std::shared_ptr<
-			mrpt_nav_interfaces::srv::GetGridmapLayer::Request>
-			req,
-		std::shared_ptr<mrpt_nav_interfaces::srv::GetGridmapLayer::Response>
-			resp);
+		const std::shared_ptr<mrpt_nav_interfaces::srv::GetGridmapLayer::Request> req,
+		std::shared_ptr<mrpt_nav_interfaces::srv::GetGridmapLayer::Response> resp);
 
-	rclcpp::Service<mrpt_nav_interfaces::srv::GetPointmapLayer>::SharedPtr
-		srvGetPoints_;
+	rclcpp::Service<mrpt_nav_interfaces::srv::GetPointmapLayer>::SharedPtr srvGetPoints_;
 
 	void srv_get_pointmap(
-		const std::shared_ptr<
-			mrpt_nav_interfaces::srv::GetPointmapLayer::Request>
-			req,
-		std::shared_ptr<mrpt_nav_interfaces::srv::GetPointmapLayer::Response>
-			resp);
+		const std::shared_ptr<mrpt_nav_interfaces::srv::GetPointmapLayer::Request> req,
+		std::shared_ptr<mrpt_nav_interfaces::srv::GetPointmapLayer::Response> resp);
 };

mrpt_map_server/src/map_server_node.cpp

@@ -46,15 +46,12 @@ void MapServer::init()
 	std::string map_yaml_file;
 	this->declare_parameter<std::string>("map_yaml_file", "");
 	this->get_parameter("map_yaml_file", map_yaml_file);
-	RCLCPP_INFO(
-		this->get_logger(), "map_yaml_file name: '%s'", map_yaml_file.c_str());
+	RCLCPP_INFO(this->get_logger(), "map_yaml_file name: '%s'", map_yaml_file.c_str());
 
 	std::string mrpt_metricmap_file;
 	this->declare_parameter<std::string>("mrpt_metricmap_file", "");
 	this->get_parameter("mrpt_metricmap_file", mrpt_metricmap_file);
-	RCLCPP_INFO(
-		this->get_logger(), "mrpt_metricmap_file name: '%s'",
-		mrpt_metricmap_file.c_str());
+	RCLCPP_INFO(this->get_logger(), "mrpt_metricmap_file name: '%s'", mrpt_metricmap_file.c_str());
 
 	auto lck = mrpt::lockHelper(theMapMtx_);
 
@@ -94,15 +91,13 @@ void MapServer::init()
 		ASSERT_FILE_EXISTS_(mm_file);
 
 		RCLCPP_INFO_STREAM(
-			this->get_logger(),
-			"Loading metric_map_t map from '" << mm_file << "' ...");
+			this->get_logger(), "Loading metric_map_t map from '" << mm_file << "' ...");
 
 		bool mapReadOk = theMap_.load_from_file(mm_file);
 		ASSERT_(mapReadOk);
 
 		RCLCPP_INFO_STREAM(
-			this->get_logger(),
-			"Loaded map contents: " << theMap_.contents_summary());
+			this->get_logger(), "Loaded map contents: " << theMap_.contents_summary());
 	}
 
 	this->declare_parameter<std::string>("frame_id", frame_id_);
@@ -111,13 +106,11 @@ void MapServer::init()
 
 	this->declare_parameter<std::string>("pub_mm_topic", pub_mm_topic_);
 	this->get_parameter("pub_mm_topic", pub_mm_topic_);
-	RCLCPP_INFO(
-		this->get_logger(), "pub_mm_topic: '%s'", pub_mm_topic_.c_str());
+	RCLCPP_INFO(this->get_logger(), "pub_mm_topic: '%s'", pub_mm_topic_.c_str());
 
 	this->declare_parameter<std::string>("service_map", service_map_str_);
 	this->get_parameter("service_map", service_map_str_);
-	RCLCPP_INFO(
-		this->get_logger(), "service_map: '%s'", service_map_str_.c_str());
+	RCLCPP_INFO(this->get_logger(), "service_map: '%s'", service_map_str_.c_str());
 
 	srvMapLayers_ = this->create_service<mrpt_nav_interfaces::srv::GetLayers>(
 		this->get_fully_qualified_name() + "/get_layers"s,
@@ -126,21 +119,17 @@ void MapServer::init()
 			mrpt_nav_interfaces::srv::GetLayers::Response::SharedPtr res)
 		{ srv_map_layers(req, res); });
 
-	srvGetGrid_ = this->create_service<
-		mrpt_nav_interfaces::srv::GetGridmapLayer>(
+	srvGetGrid_ = this->create_service<mrpt_nav_interfaces::srv::GetGridmapLayer>(
 		this->get_fully_qualified_name() + "/get_grid_layer"s,
 		[this](
-			const mrpt_nav_interfaces::srv::GetGridmapLayer::Request::SharedPtr
-				req,
+			const mrpt_nav_interfaces::srv::GetGridmapLayer::Request::SharedPtr req,
 			mrpt_nav_interfaces::srv::GetGridmapLayer::Response::SharedPtr res)
 		{ srv_get_gridmap(req, res); });
 
-	srvGetPoints_ = this->create_service<
-		mrpt_nav_interfaces::srv::GetPointmapLayer>(
+	srvGetPoints_ = this->create_service<mrpt_nav_interfaces::srv::GetPointmapLayer>(
 		this->get_fully_qualified_name() + "/get_pointcloud_layer"s,
 		[this](
-			const mrpt_nav_interfaces::srv::GetPointmapLayer::Request::SharedPtr
-				req,
+			const mrpt_nav_interfaces::srv::GetPointmapLayer::Request::SharedPtr req,
 			mrpt_nav_interfaces::srv::GetPointmapLayer::Response::SharedPtr res)
 		{ srv_get_pointmap(req, res); });
 }
@@ -178,9 +167,8 @@ void MapServer::publish_map()
 		// 2.1) for any map, publish it in mrpt binary form:
 		if (pubLayers_.count(layerName) == 0)
 		{
-			pubLayers_[layerName].pub =
-				this->create_publisher<mrpt_msgs::msg::GenericObject>(
-					pub_mm_topic_ + "/"s + layerName, QoS);
+			pubLayers_[layerName].pub = this->create_publisher<mrpt_msgs::msg::GenericObject>(
+				pub_mm_topic_ + "/"s + layerName, QoS);
 		}
 
 		{
@@ -191,9 +179,7 @@ void MapServer::publish_map()
 
 		// 2.2) publish as ROS standard msgs, if applicable too:
 		// Is it a pointcloud?
-		if (auto pts =
-				std::dynamic_pointer_cast<mrpt::maps::CPointsMap>(layerMap);
-			pts)
+		if (auto pts = std::dynamic_pointer_cast<mrpt::maps::CPointsMap>(layerMap); pts)
 		{
 			if (pubPointMaps_.count(layerName) == 0)
 			{
@@ -203,17 +189,14 @@ void MapServer::publish_map()
 			}
 
 			{
-				const sensor_msgs::msg::PointCloud2 msg_pts =
-					pointmap_layer_to_msg(pts);
+				const sensor_msgs::msg::PointCloud2 msg_pts = pointmap_layer_to_msg(pts);
 
 				pubPointMaps_[layerName].pub->publish(msg_pts);
 			}
 		}
 
 		// Is it a voxelmap?
-		if (auto vxl =
-				std::dynamic_pointer_cast<mrpt::maps::CVoxelMap>(layerMap);
-			vxl)
+		if (auto vxl = std::dynamic_pointer_cast<mrpt::maps::CVoxelMap>(layerMap); vxl)
 		{
 			// Render in RVIZ as occupied voxels=points:
 			mrpt::maps::CSimplePointsMap::Ptr pts = vxl->getOccupiedVoxels();
@@ -233,21 +216,16 @@ void MapServer::publish_map()
 		}
 
 		// Is it a grid map?
-		if (auto grid =
-				std::dynamic_pointer_cast<mrpt::maps::COccupancyGridMap2D>(
-					layerMap);
-			grid)
+		if (auto grid = std::dynamic_pointer_cast<mrpt::maps::COccupancyGridMap2D>(layerMap); grid)
 		{
 			if (pubGridMaps_.count(layerName) == 0)
 			{
-				pubGridMaps_[layerName].pub =
-					this->create_publisher<nav_msgs::msg::OccupancyGrid>(
-						pub_mm_topic_ + "/"s + layerName + "_gridmap"s, QoS);
+				pubGridMaps_[layerName].pub = this->create_publisher<nav_msgs::msg::OccupancyGrid>(
+					pub_mm_topic_ + "/"s + layerName + "_gridmap"s, QoS);
 
 				pubGridMapsMetaData_[layerName].pub =
 					this->create_publisher<nav_msgs::msg::MapMetaData>(
-						pub_mm_topic_ + "/"s + layerName + "_gridmap_metadata"s,
-						QoS);
+						pub_mm_topic_ + "/"s + layerName + "_gridmap_metadata"s, QoS);
 			}
 
 			{
@@ -277,15 +255,12 @@ void MapServer::srv_map_layers(
 	(void)req;
 
 	resp->layers.clear();
-	for (const auto& [layerName, _] : theMap_.layers)
-		resp->layers.push_back(layerName);
+	for (const auto& [layerName, _] : theMap_.layers) resp->layers.push_back(layerName);
 }
 
 void MapServer::srv_get_gridmap(
-	const std::shared_ptr<mrpt_nav_interfaces::srv::GetGridmapLayer::Request>
-		req,
-	const std::shared_ptr<mrpt_nav_interfaces::srv::GetGridmapLayer::Response>
-		resp)
+	const std::shared_ptr<mrpt_nav_interfaces::srv::GetGridmapLayer::Request> req,
+	const std::shared_ptr<mrpt_nav_interfaces::srv::GetGridmapLayer::Response> resp)
 {
 	auto lck = mrpt::lockHelper(theMapMtx_);
 
@@ -307,8 +282,7 @@ void MapServer::srv_get_gridmap(
 }
 
 void MapServer::srv_get_pointmap(
-	const std::shared_ptr<mrpt_nav_interfaces::srv::GetPointmapLayer::Request>
-		req,
+	const std::shared_ptr<mrpt_nav_interfaces::srv::GetPointmapLayer::Request> req,
 	std::shared_ptr<mrpt_nav_interfaces::srv::GetPointmapLayer::Response> resp)
 {
 	auto lck = mrpt::lockHelper(theMapMtx_);
@@ -339,29 +313,22 @@ sensor_msgs::msg::PointCloud2 MapServer::pointmap_layer_to_msg(
 
 	sensor_msgs::msg::PointCloud2 msg_pts;
 
-	if (auto* xyzirt =
-			dynamic_cast<const mrpt::maps::CPointsMapXYZIRT*>(pts.get());
-		xyzirt)
+	if (auto* xyzirt = dynamic_cast<const mrpt::maps::CPointsMapXYZIRT*>(pts.get()); xyzirt)
 	{
 		mrpt::ros2bridge::toROS(*xyzirt, msg_header, msg_pts);
 	}
-	else if (auto* xyzi =
-				 dynamic_cast<const mrpt::maps::CPointsMapXYZI*>(pts.get());
-			 xyzi)
+	else if (auto* xyzi = dynamic_cast<const mrpt::maps::CPointsMapXYZI*>(pts.get()); xyzi)
 	{
 		mrpt::ros2bridge::toROS(*xyzi, msg_header, msg_pts);
 	}
-	else if (auto* sPts =
-				 dynamic_cast<const mrpt::maps::CSimplePointsMap*>(pts.get());
-			 sPts)
+	else if (auto* sPts = dynamic_cast<const mrpt::maps::CSimplePointsMap*>(pts.get()); sPts)
 	{
 		mrpt::ros2bridge::toROS(*sPts, msg_header, msg_pts);
 	}
 	else
 	{
 		THROW_EXCEPTION_FMT(
-			"Unexpected point cloud class: '%s'",
-			pts->GetRuntimeClass()->className);
+			"Unexpected point cloud class: '%s'", pts->GetRuntimeClass()->className);
 	}
 
 	return msg_pts;

mrpt_msgs_bridge/include/mrpt_msgs_bridge/beacon.hpp

@@ -26,26 +26,23 @@ namespace mrpt_msgs_bridge
  * \sa mrpt2ros
  */
 bool fromROS(
-	const mrpt_msgs::msg::ObservationRangeBeacon _msg,
-	const mrpt::poses::CPose3D& _pose,
+	const mrpt_msgs::msg::ObservationRangeBeacon _msg, const mrpt::poses::CPose3D& _pose,
 	mrpt::obs::CObservationBeaconRanges& _obj);
 
 /** MRPT->ROS2: Takes a CObservationBeaconRanges and outputs range data in
  * mrpt_msgs::ObservationRangeBeacon \return true on sucessful conversion, false
  * on any error. \sa ros2mrpt
  */
 bool toROS(
-	const mrpt::obs::CObservationBeaconRanges& _obj,
-	mrpt_msgs::msg::ObservationRangeBeacon& _msg);
+	const mrpt::obs::CObservationBeaconRanges& _obj, mrpt_msgs::msg::ObservationRangeBeacon& _msg);
 
 /** MRPT->ROS2: Takes a CObservationBeaconRanges and outputs range data in
  * mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt
  * base_link \return true on sucessful conversion, false on any error. \sa
  * ros2mrpt
  */
 bool toROS(
-	const mrpt::obs::CObservationBeaconRanges& _obj,
-	mrpt_msgs::msg::ObservationRangeBeacon& _msg,
+	const mrpt::obs::CObservationBeaconRanges& _obj, mrpt_msgs::msg::ObservationRangeBeacon& _msg,
 	geometry_msgs::msg::Pose& _pose);
 
 /** @} */

mrpt_msgs_bridge/include/mrpt_msgs_bridge/landmark.hpp

@@ -31,8 +31,7 @@ namespace mrpt_msgs_bridge
  * true on sucessful conversion, false on any error. \sa mrpt2ros
  */
 bool fromROS(
-	const mrpt_msgs::msg::ObservationRangeBearing& _msg,
-	const mrpt::poses::CPose3D& _pose,
+	const mrpt_msgs::msg::ObservationRangeBearing& _msg, const mrpt::poses::CPose3D& _pose,
 	mrpt::obs::CObservationBearingRange& _obj);
 
 /** MRPT->ROS2: Takes a CObservationBearingRange and outputs range data in
@@ -41,8 +40,7 @@ bool fromROS(
  * \sa ros2mrpt
  */
 bool toROS(
-	const mrpt::obs::CObservationBearingRange& _obj,
-	mrpt_msgs::msg::ObservationRangeBearing& _msg);
+	const mrpt::obs::CObservationBearingRange& _obj, mrpt_msgs::msg::ObservationRangeBearing& _msg);
 
 /** MRPT->ROS2: Takes a CObservationBearingRange and outputs range data in
  * mrpt_msgs::ObservationRangeBearing + the relative pose of the range sensor
@@ -51,8 +49,7 @@ bool toROS(
  * \sa ros2mrpt
  */
 bool toROS(
-	const mrpt::obs::CObservationBearingRange& _obj,
-	mrpt_msgs::msg::ObservationRangeBearing& _msg,
+	const mrpt::obs::CObservationBearingRange& _obj, mrpt_msgs::msg::ObservationRangeBearing& _msg,
 	geometry_msgs::msg::Pose& sensorPose);
 
 /** @} */

mrpt_msgs_bridge/include/mrpt_msgs_bridge/marker_msgs.hpp

@@ -31,13 +31,11 @@ namespace mrpt_msgs_bridge
 //  official repos, so we need to build it here within ROS.
 
 bool fromROS(
-	const marker_msgs::msg::MarkerDetection& _msg,
-	const mrpt::poses::CPose3D& sensorPoseOnRobot,
+	const marker_msgs::msg::MarkerDetection& _msg, const mrpt::poses::CPose3D& sensorPoseOnRobot,
 	mrpt::obs::CObservationBearingRange& _obj);
 
 bool fromROS(
-	const marker_msgs::msg::MarkerDetection& _msg,
-	const mrpt::poses::CPose3D& sensorPoseOnRobot,
+	const marker_msgs::msg::MarkerDetection& _msg, const mrpt::poses::CPose3D& sensorPoseOnRobot,
 	mrpt::obs::CObservationBeaconRanges& _obj);
 
 }  // namespace mrpt_msgs_bridge

mrpt_msgs_bridge/include/mrpt_msgs_bridge/network_of_poses.hpp

@@ -27,12 +27,10 @@ namespace mrpt_msgs_bridge
 
 // TODO - convert these methods into a common polymorphic method
 void toROS(
-	const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph,
-	mrpt_msgs::msg::NetworkOfPoses& ros_graph);
+	const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph, mrpt_msgs::msg::NetworkOfPoses& ros_graph);
 
 void toROS(
-	const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph,
-	mrpt_msgs::msg::NetworkOfPoses& ros_graph);
+	const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph, mrpt_msgs::msg::NetworkOfPoses& ros_graph);
 
 void toROS(
 	const mrpt::graphs::CNetworkOfPoses2DInf& mrpt_graph,
@@ -61,12 +59,10 @@ void toROS(
  */
 /**\{ */
 void fromROS(
-	const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph,
-	mrpt_msgs::msg::NetworkOfPoses& ros_graph);
+	const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph, mrpt_msgs::msg::NetworkOfPoses& ros_graph);
 
 void fromROS(
-	const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph,
-	mrpt_msgs::msg::NetworkOfPoses& ros_graph);
+	const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph, mrpt_msgs::msg::NetworkOfPoses& ros_graph);
 
 void fromROS(
 	const mrpt_msgs::msg::NetworkOfPoses& ros_graph,