clang-format

src/centroidal_dynamics.cpp

@@ -72,9 +72,7 @@ Equilibrium::Equilibrium(const string& name, const double mass, const unsigned i
   m_D.block<3, 3>(3, 0) = crossMatrix(-m_mass * m_gravity);
 }
 
-Equilibrium::~Equilibrium(){
-  delete m_solver;
-}
+Equilibrium::~Equilibrium() { delete m_solver; }
 
 bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 contactNormals,
                                     double frictionCoefficient, const bool perturbate) {

test/test_static_equilibrium.cpp

@@ -275,7 +275,8 @@ void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref
 
 void generateContacts(unsigned int N_CONTACTS, double MIN_CONTACT_DISTANCE, double LX, double LY,
                       RVector3& CONTACT_POINT_LOWER_BOUNDS, RVector3& CONTACT_POINT_UPPER_BOUNDS,
-                      RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, centroidal_dynamics::MatrixX3& p, centroidal_dynamics::MatrixX3& N) {
+                      RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, centroidal_dynamics::MatrixX3& p,
+                      centroidal_dynamics::MatrixX3& N) {
   MatrixXX contact_pos = MatrixXX::Zero(N_CONTACTS, 3);
   MatrixXX contact_rpy = MatrixXX::Zero(N_CONTACTS, 3);
   p.setZero(4 * N_CONTACTS, 3);  // contact points