CI: Update pre-commit hooks / clang-format-14

.github/workflows/format.yaml

@@ -16,9 +16,9 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
-      - name: Install clang-format-12
-        run: sudo apt-get install clang-format-12
-      - uses: pre-commit/action@v3.0.1
+      - name: Install clang-format-14
+        run: sudo apt-get install clang-format-14
+      - uses: rhaschke/pre-commit-action@main
         id: precommit
       - name: Upload pre-commit changes
         if: failure() && steps.precommit.outcome == 'failure'

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -29,7 +29,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--line-length", "100"]
@@ -39,7 +39,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-12
+        entry: clang-format-14
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ["-fallback-style=none", "-i"]

core/include/moveit/task_constructor/stage_p.h

@@ -50,9 +50,13 @@
 #include <chrono>
 
 // define pimpl() functions accessing correctly casted pimpl_ pointer
-#define PIMPL_FUNCTIONS(Class)                                                                       \
-	const Class##Private* Class::pimpl() const { return static_cast<const Class##Private*>(pimpl_); } \
-	Class##Private* Class::pimpl() { return static_cast<Class##Private*>(pimpl_); }
+#define PIMPL_FUNCTIONS(Class)                           \
+	const Class##Private* Class::pimpl() const {          \
+		return static_cast<const Class##Private*>(pimpl_); \
+	}                                                     \
+	Class##Private* Class::pimpl() {                      \
+		return static_cast<Class##Private*>(pimpl_);       \
+	}
 
 namespace moveit {
 namespace task_constructor {

core/src/cost_terms.cpp

@@ -242,8 +242,8 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
 	auto& state_properties{ state->properties() };
 	auto& stage_properties{ s.creator()->properties() };
 	request.group_name = state_properties.hasProperty(group_property) ?
-                            state_properties.get<std::string>(group_property) :
-                            stage_properties.get<std::string>(group_property);
+	                         state_properties.get<std::string>(group_property) :
+	                         stage_properties.get<std::string>(group_property);
 
 	// look at all forbidden collisions involving group_name
 	request.enableGroup(state->scene()->getRobotModel());

core/src/stages/compute_ik.cpp

@@ -295,7 +295,7 @@ void ComputeIK::compute() {
 	if (value.empty()) {  // property undefined
 		//  determine IK link from eef/group
 		if (!(link = eef_jmg ? robot_model->getLinkModel(eef_jmg->getEndEffectorParentGroup().second) :
-                             jmg->getOnlyOneEndEffectorTip())) {
+		                       jmg->getOnlyOneEndEffectorTip())) {
 			RCLCPP_WARN_STREAM(LOGGER, "Failed to derive IK target link");
 			return;
 		}

core/src/stages/modify_planning_scene.cpp

@@ -105,7 +105,7 @@ void ModifyPlanningScene::attachObjects(planning_scene::PlanningScene& scene,
 	if (invert)
 		attach = !attach;
 	obj.object.operation = attach ? static_cast<int8_t>(moveit_msgs::msg::CollisionObject::ADD) :
-                                   static_cast<int8_t>(moveit_msgs::msg::CollisionObject::REMOVE);
+	                                static_cast<int8_t>(moveit_msgs::msg::CollisionObject::REMOVE);
 	for (const std::string& name : pair.second.first) {
 		obj.object.id = name;
 		scene.processAttachedCollisionObjectMsg(obj);

core/src/stages/simple_grasp.cpp

@@ -133,7 +133,7 @@ void SimpleGraspBase::setup(std::unique_ptr<Stage>&& generator, bool forward) {
 			const std::string& eef = p.get<std::string>("eef");
 			moveit_msgs::msg::AttachedCollisionObject obj;
 			obj.object.operation = forward ? static_cast<int8_t>(moveit_msgs::msg::CollisionObject::ADD) :
-                                          static_cast<int8_t>(moveit_msgs::msg::CollisionObject::REMOVE);
+			                                 static_cast<int8_t>(moveit_msgs::msg::CollisionObject::REMOVE);
 			obj.link_name = scene->getRobotModel()->getEndEffector(eef)->getEndEffectorParentGroup().second;
 			obj.object.id = p.get<std::string>("object");
 			scene->processAttachedCollisionObjectMsg(obj);

core/test/test_stage.cpp

@@ -121,7 +121,7 @@ void attachObject(PlanningScene& scene, const std::string& object, const std::st
 	moveit_msgs::msg::AttachedCollisionObject obj;
 	obj.link_name = link;
 	obj.object.operation = attach ? static_cast<int8_t>(moveit_msgs::msg::CollisionObject::ADD) :
-                                   static_cast<int8_t>(moveit_msgs::msg::CollisionObject::REMOVE);
+	                                static_cast<int8_t>(moveit_msgs::msg::CollisionObject::REMOVE);
 	obj.object.id = object;
 	scene.processAttachedCollisionObjectMsg(obj);
 }

visualization/motion_planning_tasks/properties/property_from_yaml.cpp

@@ -53,7 +53,7 @@ class ScopedYamlEvent
 {
 public:
 	~ScopedYamlEvent() { yaml_event_delete(&event_); }
-	operator yaml_event_t const &() const { return event_; }
+	operator yaml_event_t const&() const { return event_; }
 	operator yaml_event_t&() { return event_; }
 
 private: