[clang-format] Setup and run clang-format

.clang-format

@@ -1,5 +1,106 @@
 ---
-BasedOnStyle: Google
+Language:        Cpp
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
 BreakBeforeBraces: Allman
-ColumnLimit: 0
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     120
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex:           '^(<mc_[a-z]*/)'
+    Priority:        1
+  - Regex:           '^(<Tasks/)'
+    Priority:        2
+  - Regex:           '^(<mc_rbdyn_urdf/)'
+    Priority:        3
+  - Regex:           '^(<RBDyn/)'
+    Priority:        4
+  - Regex:           '^(<SpaceVecAlg/)'
+    Priority:        5
+  - Regex:           '^(<sch-core/)'
+    Priority:        6
+  - Regex:           '^(<boost/)'
+    Priority:        7
+  - Regex:           '^(<(nanomsg|geos|.*_msgs|ros|tf2.*)/)'
+    Priority:        8
+  - Regex:           '.*'
+    Priority:        9
+IncludeIsMainRegex: '(Test)?$'
+IndentCaseLabels: true
+IndentPPDirectives: AfterHash
+IndentWidth:     2
+IndentWrappedFunctionNames: true
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 150
+PenaltyReturnTypeOnItsOwnLine: 300
+PointerAlignment: Middle
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        2
+UseTab:          Never
 ...
+

.clang-format-check.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+readonly this_dir=`cd $(dirname $0); pwd`
+cd $this_dir
+source .clang-format-common.sh
+
+out=0
+tmpfile=$(mktemp /tmp/clang-format-check.XXXXXX)
+for f in ${src_files}; do
+  $clang_format -style=file $f > $tmpfile
+  if ! [[ -z `diff $tmpfile $f` ]]; then
+    echo "Wrong formatting in $f"
+    out=1
+  fi
+done
+rm -f $tmpfile
+if [[ $out -eq 1 ]]; then
+  echo "You can run ./.clang-format-fix.sh to fix the issues locally, then commit/push again"
+fi
+exit $out

.clang-format-common.sh

@@ -0,0 +1,14 @@
+# This script is meant to be sourced from other scripts
+
+# Check for clang-format, prefer 6.0 if available
+if [[ -x "$(command -v clang-format-6.0)" ]]; then
+  clang_format=clang-format-6.0
+elif [[ -x "$(command -v clang-format)" ]]; then
+  clang_format=clang-format
+else
+  echo "clang-format or clang-format-6.0 must be installed"
+  exit 1
+fi
+
+# Find all source files in the project minus those that are auto-generated or we do not maintain
+src_files=`find include include src tests -name '*.cpp' -or -name '*.h' -or -name '*.hpp'`

.clang-format-fix.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+readonly this_dir=`cd $(dirname $0); pwd`
+cd $this_dir
+source .clang-format-common.sh
+
+for f in ${src_files}; do
+  $clang_format -style=file -i $f
+done

CMakeLists.txt

@@ -39,7 +39,7 @@ add_subdirectory(src)
 if(BUILD_TESTS)
   enable_testing()
   find_package(Boost COMPONENTS unit_test_framework REQUIRED)
-  add_subdirectory(test)
+  add_subdirectory(tests)
 endif()
 
 install(

include/gram_savitzky_golay/gram_savitzky_golay.h

@@ -26,8 +26,8 @@
 namespace gram_sg
 {
 /*! GRAMPOLY Calculates the Gram Polynomial (s=0) or its sth derivative
-  *  evaluated at i, order k, over 2m+1 points
-  */
+ *  evaluated at i, order k, over 2m+1 points
+ */
 double GramPoly(const int i, const int m, const int k, const int s);
 
 /*! GenFact Calculates the generalized factorial (a)(a-1)(a-2)...(a-b+1)
@@ -36,9 +36,9 @@ double GramPoly(const int i, const int m, const int k, const int s);
 double GenFact(const int a, const int b);
 
 /*!
-     * Weight Calculates the weight of the ith data point for the t'th
-     * Least-Square point of the s'th derivative, over 2m+1 points, order n
-     */
+ * Weight Calculates the weight of the ith data point for the t'th
+ * Least-Square point of the s'th derivative, over 2m+1 points, order n
+ */
 double Weight(const int i, const int t, const int m, const int n, const int s);
 
 /*!
@@ -62,7 +62,8 @@ struct SavitzkyGolayFilterConfig
   double dt = 1;
 
   SavitzkyGolayFilterConfig() {}
-  SavitzkyGolayFilterConfig(const int m, const int t, const int n, const int s, const double dt = 1.) : m(m), t(t), n(n), s(s), dt(dt)
+  SavitzkyGolayFilterConfig(const int m, const int t, const int n, const int s, const double dt = 1.)
+  : m(m), t(t), n(n), s(s), dt(dt)
   {
   }
 
@@ -83,24 +84,24 @@ struct SavitzkyGolayFilterConfig
 
   unsigned window_size() const
   {
-    return 2*m+1;
+    return 2 * m + 1;
   }
 
   double time_step() const
   {
     return dt;
   }
 
-  friend std::ostream& operator<<(std::ostream& os, const SavitzkyGolayFilterConfig& conf);
+  friend std::ostream & operator<<(std::ostream & os, const SavitzkyGolayFilterConfig & conf);
 };
 
 struct SavitzkyGolayFilter
 {
   SavitzkyGolayFilter(const int m, const int t, const int n, const int s, const double dt = 1.);
-  SavitzkyGolayFilter(const SavitzkyGolayFilterConfig& conf);
+  SavitzkyGolayFilter(const SavitzkyGolayFilterConfig & conf);
   SavitzkyGolayFilter();
 
-  void configure(const SavitzkyGolayFilterConfig& conf);
+  void configure(const SavitzkyGolayFilterConfig & conf);
 
   /**
    * @brief Apply Savitzky-Golay convolution to the data x should have size 2*m+1
@@ -115,13 +116,14 @@ struct SavitzkyGolayFilter
    *
    * @return Filtered value according to the precomputed filter weights.
    */
-  template <typename ContainerT>
-  typename ContainerT::value_type filter(const ContainerT& v) const
+  template<typename ContainerT>
+  typename ContainerT::value_type filter(const ContainerT & v) const
   {
     assert(v.size() == weights_.size() && v.size() > 0);
     using T = typename ContainerT::value_type;
-    T res = weights_[0]*v[0];
-    for (int i = 1; i < v.size(); ++i) {
+    T res = weights_[0] * v[0];
+    for(int i = 1; i < v.size(); ++i)
+    {
       res += weights_[i] * v[i];
     }
     return res / dt_;
@@ -137,11 +139,11 @@ struct SavitzkyGolayFilter
     return conf_;
   }
 
- private:
+private:
   SavitzkyGolayFilterConfig conf_;
   std::vector<double> weights_;
   void init();
   double dt_;
 };
 
-} /* gram_sg */
+} // namespace gram_sg

include/gram_savitzky_golay/spatial_filters.h

@@ -17,37 +17,37 @@
 //  along with robcalib.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
-#include <gram_savitzky_golay/gram_savitzky_golay.h>
 #include <boost/circular_buffer.hpp>
 #include <Eigen/Core>
 #include <Eigen/Geometry>
+#include <gram_savitzky_golay/gram_savitzky_golay.h>
 
 namespace gram_sg
 {
-using Vector6d = Eigen::Matrix< double, 6, 1>;
+using Vector6d = Eigen::Matrix<double, 6, 1>;
 
-template <typename T>
+template<typename T>
 class EigenVectorFilter
 {
- protected:
+protected:
   /** Filtering **/
   gram_sg::SavitzkyGolayFilterConfig sg_conf;
   gram_sg::SavitzkyGolayFilter sg_filter;
   // Buffers for Savitzky_golay
   boost::circular_buffer<T> buffer;
 
- public:
-  EigenVectorFilter(const gram_sg::SavitzkyGolayFilterConfig& conf)
-      : sg_conf(conf), sg_filter(conf), buffer(2 * sg_filter.config().m + 1)
+public:
+  EigenVectorFilter(const gram_sg::SavitzkyGolayFilterConfig & conf)
+  : sg_conf(conf), sg_filter(conf), buffer(2 * sg_filter.config().m + 1)
   {
     reset(T::Zero());
   }
 
-  void reset(const T& data)
+  void reset(const T & data)
   {
     buffer.clear();
     // Initialize to data
-    for (size_t i = 0; i < buffer.capacity(); i++)
+    for(size_t i = 0; i < buffer.capacity(); i++)
     {
       buffer.push_back(data);
     }
@@ -63,8 +63,14 @@ class EigenVectorFilter
     buffer.clear();
   }
 
-  void add(const T& data) { buffer.push_back(data); }
-  T filter() const { return sg_filter.filter(buffer); }
+  void add(const T & data)
+  {
+    buffer.push_back(data);
+  }
+  T filter() const
+  {
+    return sg_filter.filter(buffer);
+  }
   gram_sg::SavitzkyGolayFilterConfig config() const
   {
     return sg_conf;
@@ -90,12 +96,12 @@ class RotationFilter
   // Buffers for Savitzky_golay
   boost::circular_buffer<Eigen::Matrix3d> buffer;
 
- public:
-  RotationFilter(const gram_sg::SavitzkyGolayFilterConfig& conf);
-  void reset(const Eigen::Matrix3d& r);
+public:
+  RotationFilter(const gram_sg::SavitzkyGolayFilterConfig & conf);
+  void reset(const Eigen::Matrix3d & r);
   void reset();
   void clear();
-  void add(const Eigen::Matrix3d& r);
+  void add(const Eigen::Matrix3d & r);
   Eigen::Matrix3d filter() const;
   bool ready() const
   {
@@ -111,16 +117,16 @@ class RotationFilter
  */
 class TransformFilter
 {
- private:
+private:
   EigenVectorFilter<Eigen::Vector3d> trans_filter;
   RotationFilter rot_filter;
 
- public:
-  TransformFilter(const gram_sg::SavitzkyGolayFilterConfig& conf);
-  void reset(const Eigen::Affine3d& T);
+public:
+  TransformFilter(const gram_sg::SavitzkyGolayFilterConfig & conf);
+  void reset(const Eigen::Affine3d & T);
   void reset();
   void clear();
-  void add(const Eigen::Affine3d& T);
+  void add(const Eigen::Affine3d & T);
   Eigen::Affine3d filter() const;
   gram_sg::SavitzkyGolayFilterConfig config() const
   {
@@ -132,4 +138,4 @@ class TransformFilter
   }
 };
 
-}
+} // namespace gram_sg