Run clang-format for all C++ files

haosulab · Jan 12, 2024 · 21bd3c4 · 21bd3c4
1 parent 3333cf2
commit 21bd3c4
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Showing 24 changed files with 3,301 additions and 3,036 deletions.
diff --git a/python/pybind.cpp b/python/pybind.cpp
@@ -10,7 +10,9 @@
 namespace py = pybind11;
 
 PYBIND11_MODULE(pymp, m) {
-  m.doc() = "Motion planning python binding. To see its documentation, please see the stub files in your IDE.";
+  m.doc() =
+      "Motion planning python binding. To see its documentation, please see the stub "
+      "files in your IDE.";
   build_pyfcl(m);
   build_pypinocchio(m);
   build_pykdl(m);

diff --git a/python/pybind_articulation.hpp b/python/pybind_articulation.hpp
@@ -1,12 +1,13 @@
 #pragma once
 
 #include <vector>
+
 #include <pybind11/eigen.h>
 #include <pybind11/numpy.h>
 #include <pybind11/operators.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
-#include <pybind11/pybind11.h>
+
 #include "../src/articulated_model.h"
 
 namespace py = pybind11;
@@ -103,35 +104,49 @@ std::string get_base_pose_doc = R"(
         base pose of the robot in [x, y, z, qw, qx, qy, qz] format)";
 
 void build_pyarticulation(py::module &m_all) {
-    auto m = m_all.def_submodule("articulation", "articulated model submodule, i.e. models with moving parts");
-    auto PyArticulatedModel = py::class_<ArticulatedModel, std::shared_ptr<ArticulatedModel>>(m, "ArticulatedModel",
-     "Supports initialization from URDF and SRDF files, and provides access to underlying Pinocchio and FCL models.");
-
-    PyArticulatedModel
-            .def(py::init<std::string const &,
-                          std::string const &, Eigen::Matrix<DATATYPE, 3, 1>,
-                          std::vector<std::string> const &,
-                          std::vector<std::string> const &,
-                          bool const &, bool const&>(),
-                 py::arg("urdf_filename"), py::arg("srdf_filename"), py::arg("gravity"), py::arg("joint_names"),
-                 py::arg("link_names"), py::arg("verbose") = true, py::arg("convex") = false, constructor_doc.c_str())
-            .def("get_pinocchio_model", &ArticulatedModel::getPinocchioModel, get_pinnochio_model_doc.c_str())
-            .def("get_fcl_model", &ArticulatedModel::getFCLModel, get_fcl_model_doc.c_str())
-            .def("set_move_group", py::overload_cast<std::string const &>(&ArticulatedModel::setMoveGroup),
-                 py::arg("end_effector"), set_move_group_doc1.c_str())
-            .def("set_move_group", py::overload_cast<std::vector<std::string> const &>(&ArticulatedModel::setMoveGroup),
-                 py::arg("end_effectors"), set_move_group_doc2.c_str())
-            .def("set_base_pose", &ArticulatedModel::setBasePose, py::arg("pose"), set_base_pose_doc.c_str())
-            .def("get_base_pose", &ArticulatedModel::getBasePose, get_base_pose_doc.c_str())
-            .def("get_move_group_joint_indices", &ArticulatedModel::getMoveGroupJointIndices, get_move_group_joint_indices_doc.c_str())
-            .def("get_move_group_joint_names", &ArticulatedModel::getMoveGroupJointName, get_move_group_joint_names_doc.c_str())
-            .def("get_user_joint_names", &ArticulatedModel::getUserJointNames, get_user_joint_names_doc.c_str())
-            .def("get_user_link_names", &ArticulatedModel::getUserLinkNames, get_user_link_names_doc.c_str())
-            .def("get_move_group_end_effectors", &ArticulatedModel::getMoveGroupEndEffectors, get_move_group_end_effectors_doc.c_str())
-            .def("get_qpos", &ArticulatedModel::getQpos, get_qpos_doc.c_str())
-            .def("get_move_group_qpos_dim", &ArticulatedModel::getQposDim, get_move_group_qpos_dim_doc.c_str())
-            .def("set_qpos", &ArticulatedModel::setQpos,
-                 py::arg("qpos"), py::arg("full")=false, set_qpos_doc.c_str())
-            .def("update_SRDF", &ArticulatedModel::updateSRDF,
-                 py::arg("SRDF"), update_srdf_doc.c_str());
+  auto m = m_all.def_submodule(
+      "articulation", "articulated model submodule, i.e. models with moving parts");
+  auto PyArticulatedModel =
+      py::class_<ArticulatedModel, std::shared_ptr<ArticulatedModel>>(
+          m, "ArticulatedModel",
+          "Supports initialization from URDF and SRDF files, and provides access to "
+          "underlying Pinocchio and FCL models.");
+
+  PyArticulatedModel
+      .def(py::init<const std::string &, const std::string &,
+                    Eigen::Matrix<DATATYPE, 3, 1>, const std::vector<std::string> &,
+                    const std::vector<std::string> &, const bool &, const bool &>(),
+           py::arg("urdf_filename"), py::arg("srdf_filename"), py::arg("gravity"),
+           py::arg("joint_names"), py::arg("link_names"), py::arg("verbose") = true,
+           py::arg("convex") = false, constructor_doc.c_str())
+      .def("get_pinocchio_model", &ArticulatedModel::getPinocchioModel,
+           get_pinnochio_model_doc.c_str())
+      .def("get_fcl_model", &ArticulatedModel::getFCLModel, get_fcl_model_doc.c_str())
+      .def("set_move_group",
+           py::overload_cast<const std::string &>(&ArticulatedModel::setMoveGroup),
+           py::arg("end_effector"), set_move_group_doc1.c_str())
+      .def("set_move_group",
+           py::overload_cast<const std::vector<std::string> &>(
+               &ArticulatedModel::setMoveGroup),
+           py::arg("end_effectors"), set_move_group_doc2.c_str())
+      .def("set_base_pose", &ArticulatedModel::setBasePose, py::arg("pose"),
+           set_base_pose_doc.c_str())
+      .def("get_base_pose", &ArticulatedModel::getBasePose, get_base_pose_doc.c_str())
+      .def("get_move_group_joint_indices", &ArticulatedModel::getMoveGroupJointIndices,
+           get_move_group_joint_indices_doc.c_str())
+      .def("get_move_group_joint_names", &ArticulatedModel::getMoveGroupJointName,
+           get_move_group_joint_names_doc.c_str())
+      .def("get_user_joint_names", &ArticulatedModel::getUserJointNames,
+           get_user_joint_names_doc.c_str())
+      .def("get_user_link_names", &ArticulatedModel::getUserLinkNames,
+           get_user_link_names_doc.c_str())
+      .def("get_move_group_end_effectors", &ArticulatedModel::getMoveGroupEndEffectors,
+           get_move_group_end_effectors_doc.c_str())
+      .def("get_qpos", &ArticulatedModel::getQpos, get_qpos_doc.c_str())
+      .def("get_move_group_qpos_dim", &ArticulatedModel::getQposDim,
+           get_move_group_qpos_dim_doc.c_str())
+      .def("set_qpos", &ArticulatedModel::setQpos, py::arg("qpos"),
+           py::arg("full") = false, set_qpos_doc.c_str())
+      .def("update_SRDF", &ArticulatedModel::updateSRDF, py::arg("SRDF"),
+           update_srdf_doc.c_str());
 }