[Format] fix format

include/multicontact-api/bindings/python/scenario/contact-sequence.hpp

@@ -262,7 +262,6 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
   static bp::list getAllEffectorsInContactAsList(CS& self) {
     return toPythonList<std::string>(self.getAllEffectorsInContact());
   }
-
 };
 }  // namespace python
 }  // namespace multicontact_api

include/multicontact-api/bindings/python/serialization/archive.hpp

@@ -13,22 +13,20 @@ namespace bp = boost::python;
 
 template <typename Derived>
 struct cs_pickle_suite : bp::pickle_suite {
+  static bp::object getstate(const Derived& cs) {
+    std::ostringstream os;
+    boost::archive::text_oarchive oa(os);
+    oa << cs;
+    return bp::str(os.str());
+  }
 
-    static bp::object getstate (const Derived& cs) {
-        std::ostringstream os;
-        boost::archive::text_oarchive oa(os);
-        oa << cs;
-        return bp::str(os.str());
-    }
-
-    static void
-    setstate(Derived& cs, bp::object entries) {
-        bp::str s = bp::extract<bp::str> (entries)();
-        std::string st = bp::extract<std::string> (s)();
-        std::istringstream is (st);
-        boost::archive::text_iarchive ia (is);
-        ia >> cs;
-    }
+  static void setstate(Derived& cs, bp::object entries) {
+    bp::str s = bp::extract<bp::str>(entries)();
+    std::string st = bp::extract<std::string>(s)();
+    std::istringstream is(st);
+    boost::archive::text_iarchive ia(is);
+    ia >> cs;
+  }
 };
 
 template <typename Derived>

include/multicontact-api/scenario/contact-sequence.hpp

@@ -415,16 +415,16 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
         std::cout << "CoM acceleration trajectory not defined for phase : " << i << std::endl;
         return false;
       }
-      if(phase.m_c->dim() != 3){
-        std::cout<<"CoM trajectory is not of dimension 3 for phase : " << i << std::endl;
+      if (phase.m_c->dim() != 3) {
+        std::cout << "CoM trajectory is not of dimension 3 for phase : " << i << std::endl;
         return false;
       }
-      if(phase.m_dc->dim() != 3){
-        std::cout<<"CoM velocity trajectory is not of dimension 3 for phase : " << i << std::endl;
+      if (phase.m_dc->dim() != 3) {
+        std::cout << "CoM velocity trajectory is not of dimension 3 for phase : " << i << std::endl;
         return false;
       }
-      if(phase.m_ddc->dim() != 3){
-        std::cout<<"CoM acceleration trajectory is not of dimension 3 for phase : " << i << std::endl;
+      if (phase.m_ddc->dim() != 3) {
+        std::cout << "CoM acceleration trajectory is not of dimension 3 for phase : " << i << std::endl;
         return false;
       }
       if (phase.m_c->min() != phase.timeInitial()) {
@@ -520,12 +520,12 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
         std::cout << "AM velocity trajectory not defined for phase : " << i << std::endl;
         return false;
       }
-      if(phase.m_L->dim() != 3){
-        std::cout<<"AM trajectory is not of dimension 3 for phase : " << i << std::endl;
+      if (phase.m_L->dim() != 3) {
+        std::cout << "AM trajectory is not of dimension 3 for phase : " << i << std::endl;
         return false;
       }
-      if(phase.m_dL->dim() != 3){
-        std::cout<<"AM derivative trajectory is not of dimension 3 for phase : " << i << std::endl;
+      if (phase.m_dL->dim() != 3) {
+        std::cout << "AM derivative trajectory is not of dimension 3 for phase : " << i << std::endl;
         return false;
       }
       if (phase.m_L->min() != phase.timeInitial()) {
@@ -622,8 +622,10 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
           return false;
         }
         ContactPatch::SE3 pMax = ContactPatch::SE3((*traj)(traj->max()).matrix());
-        if ((use_rotation && ! pMax.isApprox(m_contact_phases.at(i + 1).contactPatches().at(eeName).placement(), prec))
-            || (! pMax.translation().isApprox(m_contact_phases.at(i + 1).contactPatches().at(eeName).placement().translation(), prec))) {
+        if ((use_rotation &&
+             !pMax.isApprox(m_contact_phases.at(i + 1).contactPatches().at(eeName).placement(), prec)) ||
+            (!pMax.translation().isApprox(
+                m_contact_phases.at(i + 1).contactPatches().at(eeName).placement().translation(), prec))) {
           std::cout << "Effector trajectory for " << eeName
                     << " do not end at it's contact placement in the next phase, for phase " << i << std::endl;
           std::cout << "Last point : " << std::endl
@@ -634,9 +636,10 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
         }
         if (i > 0 && m_contact_phases.at(i - 1).isEffectorInContact(eeName)) {
           ContactPatch::SE3 pMin = ContactPatch::SE3((*traj)(traj->min()).matrix());
-          if ((use_rotation && ! pMin.isApprox(m_contact_phases.at(i - 1).contactPatches().at(eeName).placement(), prec))
-              || (! pMin.translation().isApprox(m_contact_phases.at(i - 1).contactPatches().at(eeName).placement().translation(), prec)))
-          {
+          if ((use_rotation &&
+               !pMin.isApprox(m_contact_phases.at(i - 1).contactPatches().at(eeName).placement(), prec)) ||
+              (!pMin.translation().isApprox(
+                  m_contact_phases.at(i - 1).contactPatches().at(eeName).placement().translation(), prec))) {
             std::cout << "Effector trajectory for " << eeName
                       << " do not start at it's contact placement in the previous phase, for phase " << i << std::endl;
             std::cout << "First point : " << std::endl
@@ -853,8 +856,8 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
         std::cout << "ZMP trajectory not defined for phase : " << i << std::endl;
         return false;
       }
-      if(phase.m_zmp->dim() != 3){
-        std::cout<<"ZMP trajectory is not of dimension 3 for phase : " << i << std::endl;
+      if (phase.m_zmp->dim() != 3) {
+        std::cout << "ZMP trajectory is not of dimension 3 for phase : " << i << std::endl;
         return false;
       }
       if (phase.m_zmp->min() != phase.timeInitial()) {

unittest/scenario.cpp

@@ -34,7 +34,6 @@ using curves::t_pointX_t;
 using namespace multicontact_api::scenario;
 typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
 
-
 typedef pinocchio::SE3Tpl<double> SE3;
 
 curve_ptr_t buildPiecewisePolynomialC2() {
@@ -1815,25 +1814,25 @@ BOOST_AUTO_TEST_CASE(contact_sequence_phase_at_time) {
   BOOST_CHECK_THROW(cs1.phaseAtTime(10.), std::invalid_argument);
 }
 
-BOOST_AUTO_TEST_CASE(contact_sequence_have_trajectory){
+BOOST_AUTO_TEST_CASE(contact_sequence_have_trajectory) {
   ContactSequence cs1 = ContactSequence(0);
   ContactPhase cp0 = ContactPhase(0, 2);
-  cp0.m_c = buildRandomPolynomial3D(0,2);
+  cp0.m_c = buildRandomPolynomial3D(0, 2);
   cp0.m_c_init = cp0.m_c->operator()(0);
   cp0.m_c_final = cp0.m_c->operator()(2);
-  cp0.m_dc = buildRandomPolynomial3D(0,2);
+  cp0.m_dc = buildRandomPolynomial3D(0, 2);
   cp0.m_dc_init = cp0.m_dc->operator()(0);
   cp0.m_dc_final = cp0.m_dc->operator()(2);
-  cp0.m_ddc = buildRandomPolynomial3D(0,2);
+  cp0.m_ddc = buildRandomPolynomial3D(0, 2);
   cp0.m_ddc_init = cp0.m_ddc->operator()(0);
   cp0.m_ddc_final = cp0.m_ddc->operator()(2);
-  cp0.m_L = buildRandomPolynomial3D(0,2);
+  cp0.m_L = buildRandomPolynomial3D(0, 2);
   cp0.m_L_init = cp0.m_L->operator()(0);
   cp0.m_L_final = cp0.m_L->operator()(2);
-  cp0.m_dL = buildRandomPolynomial3D(0,2);
+  cp0.m_dL = buildRandomPolynomial3D(0, 2);
   cp0.m_dL_init = cp0.m_dL->operator()(0);
   cp0.m_dL_final = cp0.m_dL->operator()(2);
-  cp0.m_zmp = buildRandomPolynomial3D(0,2);
+  cp0.m_zmp = buildRandomPolynomial3D(0, 2);
 
   cs1.append(cp0);
   BOOST_CHECK(cs1.haveCOMtrajectories());
@@ -1841,33 +1840,33 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_trajectory){
   BOOST_CHECK(cs1.haveZMPtrajectories());
 }
 
-BOOST_AUTO_TEST_CASE(contact_sequence_have_trajectory_wrong_dimension){
+BOOST_AUTO_TEST_CASE(contact_sequence_have_trajectory_wrong_dimension) {
   ContactSequence cs1 = ContactSequence(0);
   ContactPhase cp0 = ContactPhase(0, 2);
-  cp0.m_c = buildRandomPolynomial3D(0,2);
+  cp0.m_c = buildRandomPolynomial3D(0, 2);
   cp0.m_c_init = cp0.m_c->operator()(0);
   cp0.m_c_final = cp0.m_c->operator()(2);
-  cp0.m_dc = buildRandomPolynomial12D(0,2);
+  cp0.m_dc = buildRandomPolynomial12D(0, 2);
   cp0.m_dc_init = cp0.m_dc->operator()(0).head<3>();
   cp0.m_dc_final = cp0.m_dc->operator()(2).head<3>();
-  cp0.m_ddc = buildRandomPolynomial3D(0,2);
+  cp0.m_ddc = buildRandomPolynomial3D(0, 2);
   cp0.m_ddc_init = cp0.m_ddc->operator()(0);
   cp0.m_ddc_final = cp0.m_ddc->operator()(2);
-  cp0.m_L = buildRandomPolynomial12D(0,2);
+  cp0.m_L = buildRandomPolynomial12D(0, 2);
   cp0.m_L_init = cp0.m_L->operator()(0).head<3>();
   cp0.m_L_final = cp0.m_L->operator()(2).head<3>();
-  cp0.m_dL = buildRandomPolynomial3D(0,2);
+  cp0.m_dL = buildRandomPolynomial3D(0, 2);
   cp0.m_dL_init = cp0.m_dL->operator()(0);
   cp0.m_dL_final = cp0.m_dL->operator()(2);
-  cp0.m_zmp = buildRandomPolynomial12D(0,2);
+  cp0.m_zmp = buildRandomPolynomial12D(0, 2);
 
   cs1.append(cp0);
-  BOOST_CHECK(! cs1.haveCOMtrajectories());
-  BOOST_CHECK(! cs1.haveAMtrajectories());
-  BOOST_CHECK(! cs1.haveZMPtrajectories());
+  BOOST_CHECK(!cs1.haveCOMtrajectories());
+  BOOST_CHECK(!cs1.haveAMtrajectories());
+  BOOST_CHECK(!cs1.haveZMPtrajectories());
 }
 
-BOOST_AUTO_TEST_CASE(contact_sequence_have_effector_trajectory){
+BOOST_AUTO_TEST_CASE(contact_sequence_have_effector_trajectory) {
   ContactSequence cs1 = ContactSequence(0);
   ContactPhase cp0 = ContactPhase(0, 1);
   ContactPhase cp1 = ContactPhase(1, 2);
@@ -1886,7 +1885,7 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_effector_trajectory){
   BOOST_CHECK(cs1.haveEffectorsTrajectories(1e-3, true));
 }
 
-BOOST_AUTO_TEST_CASE(contact_sequence_have_effector_trajectory_no_rotation){
+BOOST_AUTO_TEST_CASE(contact_sequence_have_effector_trajectory_no_rotation) {
   ContactSequence cs1 = ContactSequence(0);
   ContactPhase cp0 = ContactPhase(0, 1);
   ContactPhase cp1 = ContactPhase(1, 2);
@@ -1912,5 +1911,4 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_effector_trajectory_no_rotation){
   BOOST_CHECK(cs1.haveEffectorsTrajectories(1e-6, false));
 }
 
-
 BOOST_AUTO_TEST_SUITE_END()