pre-commit run -a

CMakeLists.txt

 cmake_minimum_required(VERSION 3.1)
 
 # Project properties
-SET(PROJECT_NAME hpp-bezier-com-traj)
-SET(PROJECT_DESCRIPTION "Multi contact trajectory generation for the COM using Bezier curves")
+set(PROJECT_NAME hpp-bezier-com-traj)
+set(PROJECT_DESCRIPTION
+    "Multi contact trajectory generation for the COM using Bezier curves")
 
 # Project options
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-OPTION(USE_GLPK "Use sparse lp solver" OFF)
-OPTION(PRINT_QHULL_INEQ "generate text file containing last inequality computed" OFF)
+option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+option(USE_GLPK "Use sparse lp solver" OFF)
+option(PRINT_QHULL_INEQ
+       "generate text file containing last inequality computed" OFF)
 
 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
-SET(CXX_DISABLE_WERROR TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
+set(CXX_DISABLE_WERROR TRUE)
 
 # JRL-cmakemodule setup
-INCLUDE(cmake/hpp.cmake)
-INCLUDE(cmake/boost.cmake)
+include(cmake/hpp.cmake)
+include(cmake/boost.cmake)
 
 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
 
-IF(BUILD_PYTHON_INTERFACE)
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-  ADD_PROJECT_DEPENDENCY(eigenpy 2.7.12 REQUIRED)
-ENDIF(BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
+  string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  add_project_dependency(eigenpy 2.7.12 REQUIRED)
+endif(BUILD_PYTHON_INTERFACE)
 
 # Project dependencies
 
-ADD_PROJECT_DEPENDENCY(hpp-centroidal-dynamics REQUIRED)
-ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED)
+add_project_dependency(hpp-centroidal-dynamics REQUIRED)
+add_project_dependency(ndcurves 1.0.0 REQUIRED)
 
-IF(USE_GLPK)
-  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
-  ADD_PROJECT_DEPENDENCY(glpk REQUIRED)
-  add_definitions ( -DUSE_GLPK_SOLVER=1)
-ENDIF(USE_GLPK)
+if(USE_GLPK)
+  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+                        "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
+  add_project_dependency(glpk REQUIRED)
+  add_definitions(-DUSE_GLPK_SOLVER=1)
+endif(USE_GLPK)
 
 # Main Library
-SET(${PROJECT_NAME}_HEADERS
-  include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
-  include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
-  include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
-  include/${CUSTOM_HEADER_DIR}/data.hh
-  include/${CUSTOM_HEADER_DIR}/definitions.hh
-  include/${CUSTOM_HEADER_DIR}/flags.hh
-  include/${CUSTOM_HEADER_DIR}/local_config.hh
-  include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
-  include/${CUSTOM_HEADER_DIR}/solve.hh
-  include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp  # TODO: use stack-of-task/eiquadprog
-  include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
-  include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
-  include/${CUSTOM_HEADER_DIR}/utils.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh
-  )
-
-SET(${PROJECT_NAME}_SOURCES
-  src/common_solve_methods.cpp
-  src/costfunction_definition.cpp
-  src/solver-abstract.cpp
-  src/eiquadprog-fast.cpp
-  src/computeCOMTraj.cpp
-  src/solve_0_step.cpp
-  src/utils.cpp
-  src/waypoints_definition.cpp
-  )
+set(${PROJECT_NAME}_HEADERS
+    include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
+    include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
+    include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
+    include/${CUSTOM_HEADER_DIR}/data.hh
+    include/${CUSTOM_HEADER_DIR}/definitions.hh
+    include/${CUSTOM_HEADER_DIR}/flags.hh
+    include/${CUSTOM_HEADER_DIR}/local_config.hh
+    include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
+    include/${CUSTOM_HEADER_DIR}/solve.hh
+    include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp # TODO: use
+                                                            # stack-of-task/eiquadprog
+    include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
+    include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
+    include/${CUSTOM_HEADER_DIR}/utils.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh)
+
+set(${PROJECT_NAME}_SOURCES
+    src/common_solve_methods.cpp
+    src/costfunction_definition.cpp
+    src/solver-abstract.cpp
+    src/eiquadprog-fast.cpp
+    src/computeCOMTraj.cpp
+    src/solve_0_step.cpp
+    src/utils.cpp
+    src/waypoints_definition.cpp)
 
 if(USE_GLPK)
-  SET(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES}
-    src/glpk-wrapper.cpp
-    )
+  set(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES} src/glpk-wrapper.cpp)
 endif(USE_GLPK)
 
-ADD_LIBRARY(${PROJECT_NAME} SHARED
-  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ndcurves::ndcurves hpp-centroidal-dynamics::hpp-centroidal-dynamics)
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+target_link_libraries(${PROJECT_NAME} ndcurves::ndcurves
+                      hpp-centroidal-dynamics::hpp-centroidal-dynamics)
 
 if(USE_GLPK)
-  TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
-  TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${glpk_LIBRARY})
+  target_include_directories(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
+  target_link_libraries(${PROJECT_NAME} ${glpk_LIBRARY})
 endif(USE_GLPK)
 
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)
 
-ADD_SUBDIRECTORY(tests)
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_SUBDIRECTORY(python)
-ENDIF(BUILD_PYTHON_INTERFACE)
+add_subdirectory(tests)
+if(BUILD_PYTHON_INTERFACE)
+  add_subdirectory(python)
+endif(BUILD_PYTHON_INTERFACE)
 
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})

python/CMakeLists.txt

 # Define the wrapper library that wraps our library
-add_library(${PY_NAME} SHARED bezier_com_traj.cpp )
+add_library(${PY_NAME} SHARED bezier_com_traj.cpp)
 target_link_libraries(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy)
 # don't prepend wrapper library name with lib
 set_target_properties(${PY_NAME} PROPERTIES PREFIX "")
 
-IF(APPLE)
+if(APPLE)
   # We need to change the extension for python bindings
-  SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES SUFFIX ".so")
-ENDIF(APPLE)
+  set_target_properties(${PY_NAME} PROPERTIES SUFFIX ".so")
+endif(APPLE)
 
-INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
+install(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
 
-SET(${PROJECT_NAME}_PYTHON_TESTS
-  binding_tests.py
-  #compare_pin_inv_dyn.py requires pinocchio_inv_dyn
-  )
+set(${PROJECT_NAME}_PYTHON_TESTS
+    binding_tests.py
+    # compare_pin_inv_dyn.py requires pinocchio_inv_dyn
+)
 
-FOREACH(test ${${PROJECT_NAME}_PYTHON_TESTS})
-  ADD_PYTHON_UNIT_TEST(${test} "python/test/${test}" "python")
-ENDFOREACH(test)
+foreach(test ${${PROJECT_NAME}_PYTHON_TESTS})
+  add_python_unit_test(${test} "python/test/${test}" "python")
+endforeach(test)

tests/CMakeLists.txt

-SET(${PROJECT_NAME}_TESTS
-  transition-quasi-static
-  transition
-  bezier-symbolic
-  #zero-step-capturability  # hangs forever ?
-  )
+set(${PROJECT_NAME}_TESTS transition-quasi-static transition bezier-symbolic
+                          # zero-step-capturability  # hangs forever ?
+)
 
-FOREACH(test ${${PROJECT_NAME}_TESTS})
-  ADD_UNIT_TEST("${test}" "test-${test}.cpp")
-  TARGET_LINK_LIBRARIES(${test} ${PROJECT_NAME})
-ENDFOREACH(test)
+foreach(test ${${PROJECT_NAME}_TESTS})
+  add_unit_test("${test}" "test-${test}.cpp")
+  target_link_libraries(${test} ${PROJECT_NAME})
+endforeach(test)