Styled the code with clang-format

robotology · Feb 25, 2018 · fe4be7d · fe4be7d
1 parent 7e17667
commit fe4be7d
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Showing 55 changed files with 1,120 additions and 791 deletions.
diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,108 @@
+---
+Language:        Cpp
+# BasedOnStyle:  WebKit
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterClass:      true
+  AfterControlStatement: false
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     true
+  AfterUnion:      false
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    false
+  SplitEmptyFunction: false
+  SplitEmptyRecord: false
+  SplitEmptyNamespace: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Custom
+BreakBeforeInheritanceComma: true
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: true
+BreakConstructorInitializers: BeforeComma
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:   100
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+  - Regex:           '.*'
+    Priority:        1
+IncludeIsMainRegex: '(Test)?$'
+IndentCaseLabels: true
+IndentWidth:     4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: All
+ObjCBlockIndentWidth: 4
+ObjCSpaceAfterProperty: true
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
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+PenaltyBreakComment: 300
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+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Left
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: true
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        4
+UseTab:          Never
+...
diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
@@ -1,7 +1,7 @@
 #include "Block.h"
+#include <memory>
 #include <string>
 #include <vector>
-#include <memory>
 
 #ifndef WBT_FILTER_H
 #define WBT_FILTER_H
@@ -22,7 +22,8 @@ namespace yarp {
     }
 } // namespace yarp
 
-class wbt::DiscreteFilter : public wbt::Block {
+class wbt::DiscreteFilter : public wbt::Block
+{
 private:
     unsigned inputSignalWidth;
     std::unique_ptr<iCub::ctrl::IFilter> filter;

diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
@@ -2,9 +2,9 @@
 #define WBT_DOTJDOTQ_H
 
 #include "WBBlock.h"
-#include <memory>
-#include <iDynTree/Model/Indices.h>
 #include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/Model/Indices.h>
+#include <memory>
 
 namespace wbt {
     class DotJNu;

diff --git a/toolbox/include/ForwardKinematics.h b/toolbox/include/ForwardKinematics.h
@@ -2,8 +2,8 @@
 #define WBT_FORWARDKINEMATICS_H
 
 #include "WBBlock.h"
-#include <memory>
 #include <iDynTree/Model/Indices.h>
+#include <memory>
 
 namespace wbt {
     class ForwardKinematics;

diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
@@ -7,17 +7,17 @@
 namespace wbt {
     class GetLimits;
     struct Limit;
-}
+} // namespace wbt
 
 struct wbt::Limit
 {
-   std::vector<double> min;
-   std::vector<double> max;
+    std::vector<double> min;
+    std::vector<double> max;
 
-   Limit(unsigned size = 0)
-   : min(size)
-   , max(size)
-   {}
+    Limit(unsigned size = 0)
+        : min(size)
+        , max(size)
+    {}
 };
 
 class wbt::GetLimits : public wbt::WBBlock

diff --git a/toolbox/include/GetMeasurement.h b/toolbox/include/GetMeasurement.h
@@ -5,14 +5,14 @@
 
 namespace wbt {
     class GetMeasurement;
-    enum MeasuredType {
+    enum MeasuredType
+    {
         MEASUREMENT_JOINT_POS,
         MEASUREMENT_JOINT_VEL,
         MEASUREMENT_JOINT_ACC,
         ESTIMATE_JOINT_TORQUE
     };
-}
-
+} // namespace wbt
 
 class wbt::GetMeasurement : public wbt::WBBlock
 {

diff --git a/toolbox/include/InverseDynamics.h b/toolbox/include/InverseDynamics.h
@@ -2,8 +2,8 @@
 #define WBT_INVERSEDYNAMICS_H
 
 #include "WBBlock.h"
-#include <memory>
 #include <iDynTree/Core/VectorFixSize.h>
+#include <memory>
 
 namespace wbt {
     class InverseDynamics;
@@ -12,12 +12,12 @@ namespace wbt {
 namespace iDynTree {
     class VectorDynSize;
     class FreeFloatingGeneralizedTorques;
-}
+} // namespace iDynTree
 
 class wbt::InverseDynamics : public wbt::WBBlock
 {
 private:
-    std::unique_ptr<iDynTree::Vector6>       m_baseAcceleration;
+    std::unique_ptr<iDynTree::Vector6> m_baseAcceleration;
     std::unique_ptr<iDynTree::VectorDynSize> m_jointsAcceleration;
 
     // Output
@@ -43,7 +43,6 @@ class wbt::InverseDynamics : public wbt::WBBlock
     bool initialize(const BlockInformation* blockInfo) override;
     bool terminate(const BlockInformation* blockInfo) override;
     bool output(const BlockInformation* blockInfo) override;
-
 };
 
 #endif /* WBT_INVERSEDYNAMICS_H */
diff --git a/toolbox/include/InverseKinematics.h b/toolbox/include/InverseKinematics.h
@@ -7,24 +7,22 @@ namespace wbt {
     class InverseKinematics;
 }
 
-class wbt::InverseKinematics : public wbt::WBIModelBlock {
+class wbt::InverseKinematics : public wbt::WBIModelBlock
+{
 
     struct InverseKinematicsPimpl;
-    InverseKinematicsPimpl *m_piml;
+    InverseKinematicsPimpl* m_piml;
 
 public:
     static std::string ClassName;
     InverseKinematics();
 
     virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
-
+    virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
 };
 
-
 #endif /* end of include guard: WBT_INVERSEKINEMATICS_H */
diff --git a/toolbox/include/Jacobian.h b/toolbox/include/Jacobian.h
@@ -2,8 +2,8 @@
 #define WBT_JACOBIAN_H
 
 #include "WBBlock.h"
-#include <memory>
 #include <iDynTree/Model/Indices.h>
+#include <memory>
 
 namespace wbt {
     class Jacobian;

diff --git a/toolbox/include/MinimumJerkTrajectoryGenerator.h b/toolbox/include/MinimumJerkTrajectoryGenerator.h
@@ -7,21 +7,22 @@
 namespace wbt {
     class MinimumJerkTrajectoryGenerator;
     class BlockInformation;
-}
+} // namespace wbt
 
 namespace iCub {
     namespace ctrl {
         class minJerkTrajGen;
     }
-}
+} // namespace iCub
 
 namespace yarp {
     namespace sig {
         class Vector;
     }
-}
+} // namespace yarp
 
-class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
+class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block
+{
 public:
     static const std::string ClassName;
 
@@ -35,7 +36,6 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     bool output(const BlockInformation* blockInfo) override;
 
 private:
-
     std::unique_ptr<iCub::ctrl::minJerkTrajGen> m_generator;
 
     int m_outputFirstDerivativeIndex;
@@ -50,15 +50,15 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     std::unique_ptr<yarp::sig::Vector> m_initialValues;
     std::unique_ptr<yarp::sig::Vector> m_reference;
 
-    static const unsigned PARAM_IDX_SAMPLE_TIME;           // Sample Time (double)
-    static const unsigned PARAM_IDX_SETTLING_TIME;         // Settling Time (double)
+    static const unsigned PARAM_IDX_SAMPLE_TIME; // Sample Time (double)
+    static const unsigned PARAM_IDX_SETTLING_TIME; // Settling Time (double)
     static const unsigned PARAM_IDX_OUTPUT_1ST_DERIVATIVE; // Output first derivative (boolean)
     static const unsigned PARAM_IDX_OUTPUT_2ND_DERIVATIVE; // Output second derivative (boolean)
-    static const unsigned PARAM_IDX_INITIAL_VALUE;         // Initial signal value as input (boolean)
-    static const unsigned PARAM_IDX_EXT_SETTLINGTIME;      // Control if the settling time comes from
-                                                           // external port or static parameter
-    static const unsigned PARAM_IDX_RESET_CHANGEST;        // True if the block should reset the traj
-                                                           // generator in case settling time changes
+    static const unsigned PARAM_IDX_INITIAL_VALUE; // Initial signal value as input (boolean)
+    static const unsigned PARAM_IDX_EXT_SETTLINGTIME; // Control if the settling time comes from
+                                                      // external port or static parameter
+    static const unsigned PARAM_IDX_RESET_CHANGEST; // True if the block should reset the traj
+                                                    // generator in case settling time changes
 };
 
 #endif /* end of include guard: WBT_MINJERKTRAJGENERATOR_H */
diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
@@ -1,10 +1,10 @@
 #ifndef WBT_MODELPARTITIONER_H
 #define WBT_MODELPARTITIONER_H
 
-#include "WBBlock.h"
 #include "RobotInterface.h"
-#include <vector>
+#include "WBBlock.h"
 #include <memory>
+#include <vector>
 
 namespace wbt {
     class ModelPartitioner;

diff --git a/toolbox/include/RemoteInverseKinematics.h b/toolbox/include/RemoteInverseKinematics.h
@@ -6,27 +6,25 @@
 namespace wbt {
     class RemoteInverseKinematics;
     class BlockInformation;
-}
+} // namespace wbt
 
-class wbt::RemoteInverseKinematics : public wbt::Block {
+class wbt::RemoteInverseKinematics : public wbt::Block
+{
 
     struct RemoteInverseKinematicsPimpl;
-    RemoteInverseKinematicsPimpl *m_piml;
+    RemoteInverseKinematicsPimpl* m_piml;
 
 public:
     static std::string ClassName;
     RemoteInverseKinematics();
 
     virtual unsigned numberOfParameters();
     virtual unsigned numberOfDiscreteStates();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
-
+    virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
 };
 
-
 #endif /* end of include guard: REMOTEINVERSEKINEMATICS_H */
diff --git a/toolbox/include/SetLowLevelPID.h b/toolbox/include/SetLowLevelPID.h
@@ -7,19 +7,20 @@
 
 namespace wbt {
     class SetLowLevelPID;
-    enum PidDataIndex {
+    enum PidDataIndex
+    {
         PGAIN = 0,
         IGAIN = 1,
         DGAIN = 2
     };
     typedef std::tuple<double, double, double> PidData;
-}
+} // namespace wbt
 
 namespace yarp {
     namespace dev {
         class Pid;
     }
-}
+} // namespace yarp
 
 class wbt::SetLowLevelPID : public wbt::WBBlock
 {