Update to leverage clang-format-12

tesseract-robotics · Oct 30, 2024 · 6269ef2 · 6269ef2
1 parent fe7f932
commit 6269ef2
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diff --git a/.clang-format b/.clang-format
@@ -52,7 +52,8 @@ UseTab: Never
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
+BraceWrapping:
+    AfterCaseLabel : 'true'
     AfterClass: 'true'
     AfterControlStatement: 'true'
     AfterEnum : 'true'
@@ -63,5 +64,5 @@ BraceWrapping: {
     BeforeCatch : 'true'
     BeforeElse : 'true'
     IndentBraces : 'false'
-}
+
 ...
diff --git a/.github/workflows/clang_format.yml b/.github/workflows/clang_format.yml
@@ -17,7 +17,7 @@ jobs:
       - name: Run clang format
         run: |
           sudo apt update
-          sudo apt install -y git clang-format-8
+          sudo apt install -y git clang-format-12
           if [ $? -ge 1 ]; then return 1; fi
           ./.run-clang-format
           if [ $? -ge 1 ]; then return 1; fi

diff --git a/.run-clang-format b/.run-clang-format
@@ -1,2 +1,2 @@
 #!/bin/bash
-find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-8 -style=file -i {} \;
+find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-12 -style=file -i {} \;
diff --git a/...d_language/include/tesseract_command_language/test_suite/cartesian_waypoint_poly_unit.hpp b/...d_language/include/tesseract_command_language/test_suite/cartesian_waypoint_poly_unit.hpp
@@ -63,168 +63,169 @@ void runCartesianWaypointTest()
     EXPECT_FALSE(wp.isToleranced());
   }
 
-  {   // Set/Get Transform
-    { // Test construction providing pose
+  {    // Set/Get Transform
+    {  // Test construction providing pose
       Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
-  pose.translation() = Eigen::Vector3d(1, 2, 3);
-  CartesianWaypointPoly wp{ T(pose) };
-  EXPECT_TRUE(wp.getTransform().isApprox(pose));
-  EXPECT_FALSE(wp.isToleranced());
-}
-
-{  // Test construction providing pose
-  Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
-  pose.translation() = Eigen::Vector3d(1, 2, 3);
-  CartesianWaypointPoly wp{ T(pose, Eigen::VectorXd::Constant(3, -5), Eigen::VectorXd::Constant(3, 5)) };
-  EXPECT_TRUE(wp.getTransform().isApprox(pose));
-  EXPECT_TRUE(wp.getLowerTolerance().isApprox(Eigen::VectorXd::Constant(3, -5)));
-  EXPECT_TRUE(wp.getUpperTolerance().isApprox(Eigen::VectorXd::Constant(3, 5)));
-  EXPECT_TRUE(wp.isToleranced());
-}
+      pose.translation() = Eigen::Vector3d(1, 2, 3);
+      CartesianWaypointPoly wp{ T(pose) };
+      EXPECT_TRUE(wp.getTransform().isApprox(pose));
+      EXPECT_FALSE(wp.isToleranced());
+    }
 
-{  // Test set pose
-  Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
-  pose.translation() = Eigen::Vector3d(1, 2, 3);
-  CartesianWaypointPoly wp{ T() };
-  wp.setTransform(pose);
-  EXPECT_TRUE(wp.getTransform().isApprox(pose));
-  EXPECT_FALSE(wp.isToleranced());
-}
-
-{  // Test assigning pose
-  Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
-  pose.translation() = Eigen::Vector3d(1, 2, 3);
-  CartesianWaypointPoly wp{ T() };
-  wp.getTransform() = pose;
-  EXPECT_TRUE(std::as_const(wp).getTransform().isApprox(pose));
-  EXPECT_FALSE(wp.isToleranced());
-}
-}  // namespace tesseract_planning::test_suite
-
-{  // Test Set Tolerances
-  CartesianWaypointPoly wp{ T() };
-  EXPECT_FALSE(wp.isToleranced());
-
-  wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
-  wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
-  EXPECT_TRUE(wp.isToleranced());
+    {  // Test construction providing pose
+      Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
+      pose.translation() = Eigen::Vector3d(1, 2, 3);
+      CartesianWaypointPoly wp{ T(pose, Eigen::VectorXd::Constant(3, -5), Eigen::VectorXd::Constant(3, 5)) };
+      EXPECT_TRUE(wp.getTransform().isApprox(pose));
+      EXPECT_TRUE(wp.getLowerTolerance().isApprox(Eigen::VectorXd::Constant(3, -5)));
+      EXPECT_TRUE(wp.getUpperTolerance().isApprox(Eigen::VectorXd::Constant(3, 5)));
+      EXPECT_TRUE(wp.isToleranced());
+    }
+
+    {  // Test set pose
+      Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
+      pose.translation() = Eigen::Vector3d(1, 2, 3);
+      CartesianWaypointPoly wp{ T() };
+      wp.setTransform(pose);
+      EXPECT_TRUE(wp.getTransform().isApprox(pose));
+      EXPECT_FALSE(wp.isToleranced());
+    }
+
+    {  // Test assigning pose
+      Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
+      pose.translation() = Eigen::Vector3d(1, 2, 3);
+      CartesianWaypointPoly wp{ T() };
+      wp.getTransform() = pose;
+      EXPECT_TRUE(std::as_const(wp).getTransform().isApprox(pose));
+      EXPECT_FALSE(wp.isToleranced());
+    }
+  }  // namespace tesseract_planning::test_suite
+
+  {  // Test Set Tolerances
+    CartesianWaypointPoly wp{ T() };
+    EXPECT_FALSE(wp.isToleranced());
 
-  wp.setUpperTolerance(Eigen::VectorXd::Constant(3, -5));
-  wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
-  EXPECT_ANY_THROW(wp.isToleranced());  // NOLINT
+    wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
+    wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
+    EXPECT_TRUE(wp.isToleranced());
 
-  wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
-  wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 5));
-  EXPECT_ANY_THROW(wp.isToleranced());  // NOLINT
+    wp.setUpperTolerance(Eigen::VectorXd::Constant(3, -5));
+    wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
+    EXPECT_ANY_THROW(wp.isToleranced());  // NOLINT
 
-  wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 0));
-  wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 0));
-  EXPECT_FALSE(wp.isToleranced());
-}
+    wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
+    wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 5));
+    EXPECT_ANY_THROW(wp.isToleranced());  // NOLINT
 
-{ // Test Equality and Serialization
-  { CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
-CartesianWaypointPoly wp2(wp1);  // NOLINT
-EXPECT_TRUE(wp1 == wp2);
-EXPECT_TRUE(wp2 == wp1);
-EXPECT_FALSE(wp2 != wp1);
-runWaypointSerializationTest(wp1);
-}
-{
-  CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
-  wp1.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
-  CartesianWaypointPoly wp2(wp1);
-  EXPECT_TRUE(wp1 == wp2);
-  EXPECT_TRUE(wp2 == wp1);
-  EXPECT_FALSE(wp2 != wp1);
-  runWaypointSerializationTest(wp1);
-}
-{
-  CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
-  wp1.getUpperTolerance().resize(3);
-  wp1.getUpperTolerance() << 1, 2, 3;
-  wp1.getLowerTolerance().resize(3);
-  wp1.getLowerTolerance() << -4, -5, -6;
-  CartesianWaypointPoly wp2(wp1);
-  EXPECT_TRUE(wp1 == wp2);
-  EXPECT_TRUE(wp2 == wp1);
-  EXPECT_FALSE(wp2 != wp1);
-  runWaypointSerializationTest(wp1);
-}
-// Not equal
-{
-  CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
-  CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
-  wp2.getTransform().rotate(Eigen::AngleAxisd(M_PI, Eigen::Vector3d(0, 0, 1)));
-  EXPECT_FALSE(wp1 == wp2);
-  EXPECT_FALSE(wp2 == wp1);
-  EXPECT_TRUE(wp2 != wp1);
-  runWaypointSerializationTest(wp2);
-}
-{
-  CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
-  CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
-  wp2.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
-  EXPECT_FALSE(wp1 == wp2);
-  EXPECT_FALSE(wp2 == wp1);
-  EXPECT_TRUE(wp2 != wp1);
-  runWaypointSerializationTest(wp2);
-}
-{
-  CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
-  CartesianWaypointPoly wp2(wp1);
-  wp2.getUpperTolerance().resize(3);
-  wp2.getUpperTolerance() << 1, 2, 3;
-  wp2.getLowerTolerance().resize(3);
-  wp2.getLowerTolerance() << -4, -5, -6;
-  EXPECT_FALSE(wp1 == wp2);
-  EXPECT_FALSE(wp2 == wp1);
-  EXPECT_TRUE(wp2 != wp1);
-  runWaypointSerializationTest(wp2);
-}
-}
-
-{  // Set/Get Seed
-  tesseract_common::JointState seed_state;
-  seed_state.joint_names = { "joint_1", "joint_2", "joint_3" };
-  seed_state.position.resize(3);
-  seed_state.position << .01, .02, .03;
-  seed_state.velocity.resize(3);
-  seed_state.velocity << .1, .2, .3;
-  seed_state.acceleration.resize(3);
-  seed_state.acceleration << 1, 2, 3;
-
-  {  // Test default construction pose
-    CartesianWaypointPoly wp{ T() };
-    EXPECT_FALSE(wp.hasSeed());
-    EXPECT_FALSE(std::as_const(wp).getSeed() == seed_state);
-  }
-
-  {  // Test assigning pose
-    CartesianWaypointPoly wp{ T() };
-    EXPECT_FALSE(wp.hasSeed());
-    wp.setSeed(seed_state);
-    EXPECT_TRUE(wp.hasSeed());
-    EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
+    wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 0));
+    wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 0));
+    EXPECT_FALSE(wp.isToleranced());
   }
 
-  {  // Test assigning pose
-    CartesianWaypointPoly wp{ T() };
-    EXPECT_FALSE(wp.hasSeed());
-    wp.getSeed() = seed_state;
-    EXPECT_TRUE(wp.hasSeed());
-    EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
+  {  // Test Equality and Serialization
+    {
+      CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
+      CartesianWaypointPoly wp2(wp1);  // NOLINT
+      EXPECT_TRUE(wp1 == wp2);
+      EXPECT_TRUE(wp2 == wp1);
+      EXPECT_FALSE(wp2 != wp1);
+      runWaypointSerializationTest(wp1);
+    }
+    {
+      CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
+      wp1.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
+      CartesianWaypointPoly wp2(wp1);
+      EXPECT_TRUE(wp1 == wp2);
+      EXPECT_TRUE(wp2 == wp1);
+      EXPECT_FALSE(wp2 != wp1);
+      runWaypointSerializationTest(wp1);
+    }
+    {
+      CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
+      wp1.getUpperTolerance().resize(3);
+      wp1.getUpperTolerance() << 1, 2, 3;
+      wp1.getLowerTolerance().resize(3);
+      wp1.getLowerTolerance() << -4, -5, -6;
+      CartesianWaypointPoly wp2(wp1);
+      EXPECT_TRUE(wp1 == wp2);
+      EXPECT_TRUE(wp2 == wp1);
+      EXPECT_FALSE(wp2 != wp1);
+      runWaypointSerializationTest(wp1);
+    }
+    // Not equal
+    {
+      CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
+      CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
+      wp2.getTransform().rotate(Eigen::AngleAxisd(M_PI, Eigen::Vector3d(0, 0, 1)));
+      EXPECT_FALSE(wp1 == wp2);
+      EXPECT_FALSE(wp2 == wp1);
+      EXPECT_TRUE(wp2 != wp1);
+      runWaypointSerializationTest(wp2);
+    }
+    {
+      CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
+      CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
+      wp2.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
+      EXPECT_FALSE(wp1 == wp2);
+      EXPECT_FALSE(wp2 == wp1);
+      EXPECT_TRUE(wp2 != wp1);
+      runWaypointSerializationTest(wp2);
+    }
+    {
+      CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
+      CartesianWaypointPoly wp2(wp1);
+      wp2.getUpperTolerance().resize(3);
+      wp2.getUpperTolerance() << 1, 2, 3;
+      wp2.getLowerTolerance().resize(3);
+      wp2.getLowerTolerance() << -4, -5, -6;
+      EXPECT_FALSE(wp1 == wp2);
+      EXPECT_FALSE(wp2 == wp1);
+      EXPECT_TRUE(wp2 != wp1);
+      runWaypointSerializationTest(wp2);
+    }
   }
 
-  {  // Test clear seed
-    CartesianWaypointPoly wp{ T() };
-    EXPECT_FALSE(wp.hasSeed());
-    wp.getSeed() = seed_state;
-    EXPECT_TRUE(wp.hasSeed());
-    wp.clearSeed();
-    EXPECT_FALSE(wp.hasSeed());
+  {  // Set/Get Seed
+    tesseract_common::JointState seed_state;
+    seed_state.joint_names = { "joint_1", "joint_2", "joint_3" };
+    seed_state.position.resize(3);
+    seed_state.position << .01, .02, .03;
+    seed_state.velocity.resize(3);
+    seed_state.velocity << .1, .2, .3;
+    seed_state.acceleration.resize(3);
+    seed_state.acceleration << 1, 2, 3;
+
+    {  // Test default construction pose
+      CartesianWaypointPoly wp{ T() };
+      EXPECT_FALSE(wp.hasSeed());
+      EXPECT_FALSE(std::as_const(wp).getSeed() == seed_state);
+    }
+
+    {  // Test assigning pose
+      CartesianWaypointPoly wp{ T() };
+      EXPECT_FALSE(wp.hasSeed());
+      wp.setSeed(seed_state);
+      EXPECT_TRUE(wp.hasSeed());
+      EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
+    }
+
+    {  // Test assigning pose
+      CartesianWaypointPoly wp{ T() };
+      EXPECT_FALSE(wp.hasSeed());
+      wp.getSeed() = seed_state;
+      EXPECT_TRUE(wp.hasSeed());
+      EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
+    }
+
+    {  // Test clear seed
+      CartesianWaypointPoly wp{ T() };
+      EXPECT_FALSE(wp.hasSeed());
+      wp.getSeed() = seed_state;
+      EXPECT_TRUE(wp.hasSeed());
+      wp.clearSeed();
+      EXPECT_FALSE(wp.hasSeed());
+    }
   }
 }
-}
-}
+}  // namespace tesseract_planning::test_suite
 #endif  // TESSERACT_COMMAND_LANGUAGE_CARTESIAN_WAYPOINT_POLY_UNIT_HPP