Required formatting changes for the lastest version of ROS 2 Rolling (#368)

Author: svwilliams

fuse_constraints/src/variable_constraints.cpp

@@ -52,9 +52,9 @@ bool VariableConstraints::empty() const
 size_t VariableConstraints::size() const
 {
   auto sum_edges = [](const size_t input, const ConstraintCollection & edges)
-  {
-    return input + edges.size();
-  };
+    {
+      return input + edges.size();
+    };
   return std::accumulate(variable_constraints_.begin(), variable_constraints_.end(), 0u, sum_edges);
 }
 

fuse_core/include/fuse_core/ceres_options.hpp

@@ -54,30 +54,30 @@
  * For a given Ceres Solver Option <T>, the function ToString calls ceres::<T>ToString
  */
 #define CERES_OPTION_TO_STRING_DEFINITION(Option) \
-        static inline const char * ToString(ceres::Option value) \
-        { \
-          return ceres::Option ## ToString(value); \
-        }
+  static inline const char * ToString(ceres::Option value) \
+  { \
+    return ceres::Option ## ToString(value); \
+  }
 
 /**
  * Defines FromString overloaded function to Ceres Options.
  *
  * For a given Ceres Solver Option <T>, the function FromString calls ceres::StringTo<T>
  */
 #define CERES_OPTION_FROM_STRING_DEFINITION(Option) \
-        static inline bool FromString(std::string string_value, ceres::Option * value) \
-        { \
-          return ceres::StringTo ## Option(string_value, value); \
-        }
+  static inline bool FromString(std::string string_value, ceres::Option * value) \
+  { \
+    return ceres::StringTo ## Option(string_value, value); \
+  }
 
 /**
  * Defines ToString and FromString overloaded functions for Ceres Options.
  *
  * See CERES_OPTION_TO_STRING_DEFINITION and CERES_OPTION_FROM_STRING_DEFINITION.
  */
 #define CERES_OPTION_STRING_DEFINITIONS(Option) \
-        CERES_OPTION_TO_STRING_DEFINITION(Option) \
-        CERES_OPTION_FROM_STRING_DEFINITION(Option)
+  CERES_OPTION_TO_STRING_DEFINITION(Option) \
+  CERES_OPTION_FROM_STRING_DEFINITION(Option)
 
 #if !CERES_VERSION_AT_LEAST(2, 0, 0)
 /**

fuse_core/include/fuse_core/constraint.hpp

@@ -67,10 +67,10 @@
  * @endcode
  */
 #define FUSE_CONSTRAINT_CLONE_DEFINITION(...) \
-        fuse_core::Constraint::UniquePtr clone() const override \
-        { \
-          return __VA_ARGS__::make_unique(*this); \
-        }
+  fuse_core::Constraint::UniquePtr clone() const override \
+  { \
+    return __VA_ARGS__::make_unique(*this); \
+  }
 
 /**
  * @brief Implementation of the serialize() and deserialize() member functions for derived classes
@@ -86,22 +86,22 @@
  * @endcode
  */
 #define FUSE_CONSTRAINT_SERIALIZE_DEFINITION(...) \
-        void serialize(fuse_core::BinaryOutputArchive & archive) const override \
-        { \
-          archive << *this; \
-        }  /* NOLINT */ \
-        void serialize(fuse_core::TextOutputArchive & archive) const override \
-        { \
-          archive << *this; \
-        }  /* NOLINT */ \
-        void deserialize(fuse_core::BinaryInputArchive & archive) override \
-        { \
-          archive >> *this; \
-        }  /* NOLINT */ \
-        void deserialize(fuse_core::TextInputArchive & archive) override \
-        { \
-          archive >> *this; \
-        }
+  void serialize(fuse_core::BinaryOutputArchive & archive) const override \
+  { \
+    archive << *this; \
+  }  /* NOLINT */ \
+  void serialize(fuse_core::TextOutputArchive & archive) const override \
+  { \
+    archive << *this; \
+  }  /* NOLINT */ \
+  void deserialize(fuse_core::BinaryInputArchive & archive) override \
+  { \
+    archive >> *this; \
+  }  /* NOLINT */ \
+  void deserialize(fuse_core::TextInputArchive & archive) override \
+  { \
+    archive >> *this; \
+  }
 
 /**
  * @brief Implements the type() member function using the suggested implementation
@@ -119,17 +119,17 @@
  * @endcode
  */
 #define FUSE_CONSTRAINT_TYPE_DEFINITION(...) \
-        struct detail \
-        { \
-          static std::string type() \
-          { \
-            return boost::typeindex::stl_type_index::type_id<__VA_ARGS__>().pretty_name(); \
-          }  /* NOLINT */ \
-        };  /* NOLINT */ \
-        std::string type() const override \
-        { \
-          return detail::type(); \
-        }
+  struct detail \
+  { \
+    static std::string type() \
+    { \
+      return boost::typeindex::stl_type_index::type_id<__VA_ARGS__>().pretty_name(); \
+    }  /* NOLINT */ \
+  };  /* NOLINT */ \
+  std::string type() const override \
+  { \
+    return detail::type(); \
+  }
 
 /**
  * @brief Convenience function that creates the required pointer aliases, clone() method, and type()
@@ -146,10 +146,10 @@
  * @endcode
  */
 #define FUSE_CONSTRAINT_DEFINITIONS(...) \
-        FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__) \
-        FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
-        FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
-        FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)
+  FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__) \
+  FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
+  FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
+  FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)
 
 /**
  * @brief Convenience function that creates the required pointer aliases, clone() method, and type()
@@ -166,10 +166,10 @@
  * @endcode
  */
 #define FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(...) \
-        FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(__VA_ARGS__) \
-        FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
-        FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
-        FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)
+  FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(__VA_ARGS__) \
+  FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
+  FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
+  FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)
 
 
 namespace fuse_core

fuse_core/include/fuse_core/eigen_gtest.hpp

@@ -108,23 +108,23 @@ AssertionResult AssertMatrixNearHelper(
 // Internal macro for implementing {EXPECT|ASSERT}_MATRIX_EQ.
 // Don't use this in your code.
 #define GTEST_MATRIX_EQUAL_(v1, v2, on_failure) \
-        GTEST_ASSERT_( \
-          ::testing::AssertMatrixEqualHelper( \
-            #v1, \
-            #v2, \
-            v1, \
-            v2), on_failure)
+  GTEST_ASSERT_( \
+    ::testing::AssertMatrixEqualHelper( \
+      #v1, \
+      #v2, \
+      v1, \
+      v2), on_failure)
 
 // Internal macro for implementing {EXPECT|ASSERT}_MATRIX_NEAR.
 // Don't use this in your code.
 #define GTEST_MATRIX_NEAR_(v1, v2, tol, on_failure) \
-        GTEST_ASSERT_( \
-          ::testing::AssertMatrixNearHelper( \
-            #v1, \
-            #v2, \
-            v1, \
-            v2, \
-            tol), on_failure)
+  GTEST_ASSERT_( \
+    ::testing::AssertMatrixNearHelper( \
+      #v1, \
+      #v2, \
+      v1, \
+      v2, \
+      tol), on_failure)
 
 // Define gtest macros for use with Eigen
 
@@ -137,7 +137,7 @@ AssertionResult AssertMatrixNearHelper(
  * @param[in] v2 The actual matrix
  */
 #define EXPECT_MATRIX_EQ(v1, v2) \
-        GTEST_MATRIX_EQUAL_(v1, v2, GTEST_NONFATAL_FAILURE_)
+  GTEST_MATRIX_EQUAL_(v1, v2, GTEST_NONFATAL_FAILURE_)
 
 /**
  * @brief Fatal check for exact equality of two Eigen matrix-like objects.
@@ -148,7 +148,7 @@ AssertionResult AssertMatrixNearHelper(
  * @param[in] v2 The actual matrix
  */
 #define ASSERT_MATRIX_EQ(v1, v2) \
-        GTEST_MATRIX_EQUAL_(v1, v2, GTEST_FATAL_FAILURE_)
+  GTEST_MATRIX_EQUAL_(v1, v2, GTEST_FATAL_FAILURE_)
 
 /**
  * @brief Non-fatal check for approximate equality of two Eigen matrix-like objects.
@@ -160,7 +160,7 @@ AssertionResult AssertMatrixNearHelper(
  * @param[in] tol The allowed tolerance between any entries in v1 and v2
  */
 #define EXPECT_MATRIX_NEAR(v1, v2, tol) \
-        GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_NONFATAL_FAILURE_)
+  GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_NONFATAL_FAILURE_)
 
 /**
  * @brief Fatal check for approximate equality of two Eigen matrix-like objects.
@@ -172,7 +172,7 @@ AssertionResult AssertMatrixNearHelper(
  * @param[in] tol The allowed tolerance between any entries in v1 and v2
  */
 #define ASSERT_MATRIX_NEAR(v1, v2, tol) \
-        GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_FATAL_FAILURE_)
+  GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_FATAL_FAILURE_)
 
 }  // namespace testing
 

fuse_core/include/fuse_core/fuse_macros.hpp

@@ -86,11 +86,11 @@
  * Use in the public section of the class.
  */
 #define FUSE_SMART_PTR_DEFINITIONS(...) \
-        __FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
-        __FUSE_MAKE_SHARED_DEFINITION(__VA_ARGS__) \
-        __FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
-        __FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
-        __FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
+  __FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
+  __FUSE_MAKE_SHARED_DEFINITION(__VA_ARGS__) \
+  __FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
+  __FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
+  __FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
 
 /**
  * Defines smart pointer aliases and static functions for a class that contains fixed-sized
@@ -104,15 +104,15 @@
  */
 #if __cpp_aligned_new
   #define FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(...) \
-          FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__)
+    FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__)
 #else
   #define FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(...) \
-          EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
-          __FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
-          __FUSE_MAKE_SHARED_ALIGNED_DEFINITION(__VA_ARGS__) \
-          __FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
-          __FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
-          __FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
+    __FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
+    __FUSE_MAKE_SHARED_ALIGNED_DEFINITION(__VA_ARGS__) \
+    __FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
+    __FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
+    __FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
 #endif
 
 /**
@@ -124,55 +124,55 @@
  * Use in the public section of the class.
  */
 #define FUSE_SMART_PTR_ALIASES_ONLY(...) \
-        __FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
-        __FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
-        __FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__)
+  __FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
+  __FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
+  __FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__)
 
 #define __FUSE_SHARED_PTR_ALIAS(...) \
-        using SharedPtr = std::shared_ptr<__VA_ARGS__>; \
-        using ConstSharedPtr = std::shared_ptr<const __VA_ARGS__>;
+  using SharedPtr = std::shared_ptr<__VA_ARGS__>; \
+  using ConstSharedPtr = std::shared_ptr<const __VA_ARGS__>;
 
 #define __FUSE_MAKE_SHARED_DEFINITION(...) \
-        template<typename ... Args> \
-        static std::shared_ptr<__VA_ARGS__> \
-        make_shared(Args && ... args) \
-        { \
-          return std::make_shared<__VA_ARGS__>(std::forward<Args>(args) ...); \
-        }
+  template<typename ... Args> \
+  static std::shared_ptr<__VA_ARGS__> \
+  make_shared(Args && ... args) \
+  { \
+    return std::make_shared<__VA_ARGS__>(std::forward<Args>(args) ...); \
+  }
 
 #define __FUSE_MAKE_SHARED_ALIGNED_DEFINITION(...) \
-        template<typename ... Args> \
-        static std::shared_ptr<__VA_ARGS__> \
-        make_shared(Args && ... args) \
-        { \
-          return std::allocate_shared<__VA_ARGS__>( \
-            Eigen::aligned_allocator<__VA_ARGS__>(), \
-            std::forward<Args>(args) ...); \
-        }
+  template<typename ... Args> \
+  static std::shared_ptr<__VA_ARGS__> \
+  make_shared(Args && ... args) \
+  { \
+    return std::allocate_shared<__VA_ARGS__>( \
+      Eigen::aligned_allocator<__VA_ARGS__>(), \
+      std::forward<Args>(args) ...); \
+  }
 
 #define __FUSE_WEAK_PTR_ALIAS(...) \
-        using WeakPtr = std::weak_ptr<__VA_ARGS__>; \
-        using ConstWeakPtr = std::weak_ptr<const __VA_ARGS__>;
+  using WeakPtr = std::weak_ptr<__VA_ARGS__>; \
+  using ConstWeakPtr = std::weak_ptr<const __VA_ARGS__>;
 
 #define __FUSE_UNIQUE_PTR_ALIAS(...) \
-        using UniquePtr = std::unique_ptr<__VA_ARGS__>;
+  using UniquePtr = std::unique_ptr<__VA_ARGS__>;
 
 #if __cplusplus >= 201402L
   #define __FUSE_MAKE_UNIQUE_DEFINITION(...) \
-          template<typename ... Args> \
-          static std::unique_ptr<__VA_ARGS__> \
-          make_unique(Args && ... args) \
-          { \
-            return std::make_unique<__VA_ARGS__>(std::forward<Args>(args) ...); \
-          }
+    template<typename ... Args> \
+    static std::unique_ptr<__VA_ARGS__> \
+    make_unique(Args && ... args) \
+    { \
+      return std::make_unique<__VA_ARGS__>(std::forward<Args>(args) ...); \
+    }
 #else
   #define __FUSE_MAKE_UNIQUE_DEFINITION(...) \
-          template<typename ... Args> \
-          static std::unique_ptr<__VA_ARGS__> \
-          make_unique(Args && ... args) \
-          { \
-            return std::unique_ptr<__VA_ARGS__>(new __VA_ARGS__(std::forward<Args>(args) ...)); \
-          }
+    template<typename ... Args> \
+    static std::unique_ptr<__VA_ARGS__> \
+    make_unique(Args && ... args) \
+    { \
+      return std::unique_ptr<__VA_ARGS__>(new __VA_ARGS__(std::forward<Args>(args) ...)); \
+    }
 #endif
 
 #endif  // FUSE_CORE__FUSE_MACROS_HPP_