Run clang-format on the entire repo
This patch clang-formats the entire repo. Third-party code is
excluded.
I needed to fix up the .clang-format file so that all the header
includes are ordered properly. I could have sworn that it used to work
without the extra modification, but I guess not.
Signed-off-by: Philipp Schrader <philipp.schrader@gmail.com>
Change-Id: I64bb9f2c795401393f9dfe2fefc4f04cb36b52f6
diff --git a/frc971/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
index f01af3c..3b0bcc6 100644
--- a/frc971/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -2,14 +2,15 @@
#include <algorithm>
#include <limits>
-#include <opencv2/highgui/highgui.hpp>
#include "Eigen/Dense"
+#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
+#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
+#include <opencv2/highgui/highgui.hpp>
+
#include "aos/events/simulated_event_loop.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
-#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
-#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/wpilib/imu_batch_generated.h"
diff --git a/frc971/vision/calibration_accumulator.h b/frc971/vision/calibration_accumulator.h
index 132bb4b..6451d0c 100644
--- a/frc971/vision/calibration_accumulator.h
+++ b/frc971/vision/calibration_accumulator.h
@@ -4,6 +4,7 @@
#include <vector>
#include "Eigen/Dense"
+
#include "aos/events/simulated_event_loop.h"
#include "aos/time/time.h"
#include "frc971/control_loops/quaternion_utils.h"
diff --git a/frc971/vision/ceres/pose_graph_3d_error_term.h b/frc971/vision/ceres/pose_graph_3d_error_term.h
index c2ebde7..4dd5fbd 100644
--- a/frc971/vision/ceres/pose_graph_3d_error_term.h
+++ b/frc971/vision/ceres/pose_graph_3d_error_term.h
@@ -33,6 +33,7 @@
#include "Eigen/Core"
#include "ceres/autodiff_cost_function.h"
+
#include "types.h"
namespace ceres {
diff --git a/frc971/vision/ceres/read_g2o.h b/frc971/vision/ceres/read_g2o.h
index fea32e9..69fa16a 100644
--- a/frc971/vision/ceres/read_g2o.h
+++ b/frc971/vision/ceres/read_g2o.h
@@ -44,8 +44,8 @@
// Reads a single pose from the input and inserts it into the map. Returns false
// if there is a duplicate entry.
template <typename Pose, typename Allocator>
-bool ReadVertex(std::ifstream* infile,
- std::map<int, Pose, std::less<int>, Allocator>* poses) {
+bool ReadVertex(std::ifstream *infile,
+ std::map<int, Pose, std::less<int>, Allocator> *poses) {
int id;
Pose pose;
*infile >> id >> pose;
@@ -62,8 +62,8 @@
// Reads the contraints between two vertices in the pose graph
template <typename Constraint, typename Allocator>
-void ReadConstraint(std::ifstream* infile,
- std::vector<Constraint, Allocator>* constraints) {
+void ReadConstraint(std::ifstream *infile,
+ std::vector<Constraint, Allocator> *constraints) {
Constraint constraint;
*infile >> constraint;
@@ -92,18 +92,17 @@
// where the quaternion is in Hamilton form.
// A constraint is defined as follows:
//
-// EDGE_SE3:QUAT ID_a ID_b x_ab y_ab z_ab q_x_ab q_y_ab q_z_ab q_w_ab I_11 I_12 I_13 ... I_16 I_22 I_23 ... I_26 ... I_66 // NOLINT
+// EDGE_SE3:QUAT ID_a ID_b x_ab y_ab z_ab q_x_ab q_y_ab q_z_ab q_w_ab I_11 I_12
+// I_13 ... I_16 I_22 I_23 ... I_26 ... I_66 // NOLINT
//
// where I_ij is the (i, j)-th entry of the information matrix for the
// measurement. Only the upper-triangular part is stored. The measurement order
// is the delta position followed by the delta orientation.
-template <typename Pose,
- typename Constraint,
- typename MapAllocator,
+template <typename Pose, typename Constraint, typename MapAllocator,
typename VectorAllocator>
-bool ReadG2oFile(const std::string& filename,
- std::map<int, Pose, std::less<int>, MapAllocator>* poses,
- std::vector<Constraint, VectorAllocator>* constraints) {
+bool ReadG2oFile(const std::string &filename,
+ std::map<int, Pose, std::less<int>, MapAllocator> *poses,
+ std::vector<Constraint, VectorAllocator> *constraints) {
CHECK(poses != NULL);
CHECK(constraints != NULL);
diff --git a/frc971/vision/ceres/types.h b/frc971/vision/ceres/types.h
index d3f19ed..17e9bd3 100644
--- a/frc971/vision/ceres/types.h
+++ b/frc971/vision/ceres/types.h
@@ -52,7 +52,7 @@
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
-inline std::istream& operator>>(std::istream& input, Pose3d& pose) {
+inline std::istream &operator>>(std::istream &input, Pose3d &pose) {
input >> pose.p.x() >> pose.p.y() >> pose.p.z() >> pose.q.x() >> pose.q.y() >>
pose.q.z() >> pose.q.w();
// Normalize the quaternion to account for precision loss due to
@@ -61,9 +61,7 @@
return input;
}
-typedef std::map<int,
- Pose3d,
- std::less<int>,
+typedef std::map<int, Pose3d, std::less<int>,
Eigen::aligned_allocator<std::pair<const int, Pose3d>>>
MapOfPoses;
@@ -88,8 +86,8 @@
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
-inline std::istream& operator>>(std::istream& input, Constraint3d& constraint) {
- Pose3d& t_be = constraint.t_be;
+inline std::istream &operator>>(std::istream &input, Constraint3d &constraint) {
+ Pose3d &t_be = constraint.t_be;
input >> constraint.id_begin >> constraint.id_end >> t_be;
for (int i = 0; i < 6 && input.good(); ++i) {
diff --git a/frc971/vision/charuco_lib.cc b/frc971/vision/charuco_lib.cc
index 89ebe19..b55a493 100644
--- a/frc971/vision/charuco_lib.cc
+++ b/frc971/vision/charuco_lib.cc
@@ -2,17 +2,18 @@
#include <chrono>
#include <functional>
+#include <string_view>
+
+#include "glog/logging.h"
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include <string_view>
#include "aos/events/event_loop.h"
#include "aos/flatbuffers.h"
#include "aos/network/team_number.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/vision_generated.h"
-#include "glog/logging.h"
DEFINE_string(board_template_path, "",
"If specified, write an image to the specified path for the "
diff --git a/frc971/vision/charuco_lib.h b/frc971/vision/charuco_lib.h
index 2c35a0b..8af7b8c 100644
--- a/frc971/vision/charuco_lib.h
+++ b/frc971/vision/charuco_lib.h
@@ -2,16 +2,17 @@
#define Y2020_VISION_CHARUCO_LIB_H_
#include <functional>
-#include <opencv2/aruco/charuco.hpp>
-#include <opencv2/calib3d.hpp>
#include <string_view>
#include "Eigen/Dense"
#include "Eigen/Geometry"
#include "absl/types/span.h"
+#include "external/com_github_foxglove_schemas/ImageAnnotations_generated.h"
+#include <opencv2/aruco/charuco.hpp>
+#include <opencv2/calib3d.hpp>
+
#include "aos/events/event_loop.h"
#include "aos/network/message_bridge_server_generated.h"
-#include "external/com_github_foxglove_schemas/ImageAnnotations_generated.h"
#include "frc971/vision/calibration_generated.h"
DECLARE_bool(visualize);
diff --git a/frc971/vision/extrinsics_calibration.cc b/frc971/vision/extrinsics_calibration.cc
index daa371e..9459c84 100644
--- a/frc971/vision/extrinsics_calibration.cc
+++ b/frc971/vision/extrinsics_calibration.cc
@@ -1,19 +1,19 @@
#include "frc971/vision/extrinsics_calibration.h"
-#include "aos/time/time.h"
#include "ceres/ceres.h"
-#include "frc971/analysis/in_process_plotter.h"
-#include "frc971/control_loops/runge_kutta.h"
-#include "frc971/vision/calibration_accumulator.h"
-#include "frc971/vision/charuco_lib.h"
-#include "frc971/vision/visualize_robot.h"
-
#include <opencv2/core.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+#include "aos/time/time.h"
+#include "frc971/analysis/in_process_plotter.h"
+#include "frc971/control_loops/runge_kutta.h"
+#include "frc971/vision/calibration_accumulator.h"
+#include "frc971/vision/charuco_lib.h"
+#include "frc971/vision/visualize_robot.h"
+
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/extrinsics_calibration.h b/frc971/vision/extrinsics_calibration.h
index fb52ed9..f6c3ccc 100644
--- a/frc971/vision/extrinsics_calibration.h
+++ b/frc971/vision/extrinsics_calibration.h
@@ -3,6 +3,7 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
+
#include "frc971/vision/calibration_accumulator.h"
namespace frc971 {
diff --git a/frc971/vision/foxglove_image_converter_lib.h b/frc971/vision/foxglove_image_converter_lib.h
index 872ac14..cdba9e3 100644
--- a/frc971/vision/foxglove_image_converter_lib.h
+++ b/frc971/vision/foxglove_image_converter_lib.h
@@ -1,7 +1,8 @@
#ifndef FRC971_VISION_FOXGLOVE_IMAGE_CONVERTER_H_
#define FRC971_VISION_FOXGLOVE_IMAGE_CONVERTER_H_
-#include "aos/events/event_loop.h"
#include "external/com_github_foxglove_schemas/CompressedImage_generated.h"
+
+#include "aos/events/event_loop.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/vision/vision_generated.h"
diff --git a/frc971/vision/foxglove_image_converter_test.cc b/frc971/vision/foxglove_image_converter_test.cc
index 7a3f786..c9c7d66 100644
--- a/frc971/vision/foxglove_image_converter_test.cc
+++ b/frc971/vision/foxglove_image_converter_test.cc
@@ -1,10 +1,10 @@
-#include "frc971/vision/foxglove_image_converter_lib.h"
+#include "gtest/gtest.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
-#include "gtest/gtest.h"
+#include "frc971/vision/foxglove_image_converter_lib.h"
DECLARE_int32(jpeg_quality);
diff --git a/frc971/vision/geometry.h b/frc971/vision/geometry.h
index e3527f5..7858418 100644
--- a/frc971/vision/geometry.h
+++ b/frc971/vision/geometry.h
@@ -1,10 +1,11 @@
#ifndef FRC971_VISION_GEOMETRY_H_
#define FRC971_VISION_GEOMETRY_H_
-#include "aos/util/math.h"
#include "glog/logging.h"
#include "opencv2/core/types.hpp"
+#include "aos/util/math.h"
+
namespace frc971::vision {
// Linear equation in the form y = mx + b
diff --git a/frc971/vision/geometry_test.cc b/frc971/vision/geometry_test.cc
index 19e54c4..f34594c 100644
--- a/frc971/vision/geometry_test.cc
+++ b/frc971/vision/geometry_test.cc
@@ -2,10 +2,11 @@
#include <cmath>
-#include "aos/util/math.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/util/math.h"
+
namespace frc971::vision::testing {
TEST(GeometryTest, SlopeInterceptLine) {
diff --git a/frc971/vision/intrinsics_calibration.cc b/frc971/vision/intrinsics_calibration.cc
index 224a37c..452dd74 100644
--- a/frc971/vision/intrinsics_calibration.cc
+++ b/frc971/vision/intrinsics_calibration.cc
@@ -1,10 +1,11 @@
#include <cmath>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc.hpp>
#include <regex>
#include "absl/strings/str_format.h"
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/network/team_number.h"
diff --git a/frc971/vision/intrinsics_calibration_lib.h b/frc971/vision/intrinsics_calibration_lib.h
index 10062ba..2da33f1 100644
--- a/frc971/vision/intrinsics_calibration_lib.h
+++ b/frc971/vision/intrinsics_calibration_lib.h
@@ -1,14 +1,15 @@
#ifndef FRC971_VISION_CALIBRATION_LIB_H_
#define FRC971_VISION_CALIBRATION_LIB_H_
#include <cmath>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc.hpp>
#include <regex>
#include "Eigen/Dense"
#include "Eigen/Geometry"
#include "absl/strings/str_format.h"
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
#include "aos/events/event_loop.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
diff --git a/frc971/vision/media_device.cc b/frc971/vision/media_device.cc
index 4c227a8..a369cfb 100644
--- a/frc971/vision/media_device.cc
+++ b/frc971/vision/media_device.cc
@@ -15,9 +15,10 @@
#include "absl/strings/str_cat.h"
#include "absl/strings/str_split.h"
+#include "glog/logging.h"
+
#include "aos/scoped/scoped_fd.h"
#include "aos/util/file.h"
-#include "glog/logging.h"
namespace frc971 {
namespace vision {
@@ -263,8 +264,9 @@
format.format.quantization = V4L2_QUANTIZATION_DEFAULT;
format.format.xfer_func = V4L2_XFER_FUNC_DEFAULT;
- LOG(INFO) << "Setting " << entity()->name() << " pad " << index() << " format to "
- << width << "x" << height << " code 0x" << std::hex << code;
+ LOG(INFO) << "Setting " << entity()->name() << " pad " << index()
+ << " format to " << width << "x" << height << " code 0x" << std::hex
+ << code;
PCHECK(ioctl(fd, VIDIOC_SUBDEV_S_FMT, &format) == 0);
diff --git a/frc971/vision/media_device.h b/frc971/vision/media_device.h
index b3b93a6..a2a86fe 100644
--- a/frc971/vision/media_device.h
+++ b/frc971/vision/media_device.h
@@ -12,9 +12,10 @@
#include <string_view>
#include <vector>
-#include "aos/scoped/scoped_fd.h"
#include "glog/logging.h"
+#include "aos/scoped/scoped_fd.h"
+
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/target_mapper.cc b/frc971/vision/target_mapper.cc
index 21bd443..e7a6955 100644
--- a/frc971/vision/target_mapper.cc
+++ b/frc971/vision/target_mapper.cc
@@ -1,6 +1,7 @@
#include "frc971/vision/target_mapper.h"
#include "absl/strings/str_format.h"
+
#include "frc971/control_loops/control_loop.h"
#include "frc971/vision/ceres/pose_graph_3d_error_term.h"
#include "frc971/vision/geometry.h"
diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index d10d6d8..cfefcc7 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -3,8 +3,9 @@
#include <unordered_map>
-#include "aos/events/simulated_event_loop.h"
#include "ceres/ceres.h"
+
+#include "aos/events/simulated_event_loop.h"
#include "frc971/vision/ceres/types.h"
#include "frc971/vision/target_map_generated.h"
#include "frc971/vision/visualize_robot.h"
diff --git a/frc971/vision/target_mapper_test.cc b/frc971/vision/target_mapper_test.cc
index 9c86965..8c6d37d 100644
--- a/frc971/vision/target_mapper_test.cc
+++ b/frc971/vision/target_mapper_test.cc
@@ -2,12 +2,13 @@
#include <random>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
#include "aos/testing/random_seed.h"
#include "aos/util/math.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
DECLARE_int32(min_target_id);
DECLARE_int32(max_target_id);
diff --git a/frc971/vision/v4l2_reader.h b/frc971/vision/v4l2_reader.h
index 8764024..6338ba5 100644
--- a/frc971/vision/v4l2_reader.h
+++ b/frc971/vision/v4l2_reader.h
@@ -5,6 +5,8 @@
#include <string>
#include "absl/types/span.h"
+#include "glog/logging.h"
+
#include "aos/containers/ring_buffer.h"
#include "aos/events/epoll.h"
#include "aos/events/event_loop.h"
@@ -13,7 +15,6 @@
#include "aos/scoped/scoped_fd.h"
#include "aos/util/threaded_consumer.h"
#include "frc971/vision/vision_generated.h"
-#include "glog/logging.h"
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/visualize_robot.cc b/frc971/vision/visualize_robot.cc
index 55932ef..0c7a536 100644
--- a/frc971/vision/visualize_robot.cc
+++ b/frc971/vision/visualize_robot.cc
@@ -1,12 +1,11 @@
#include "frc971/vision/visualize_robot.h"
+#include "glog/logging.h"
#include <opencv2/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include "glog/logging.h"
-
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/visualize_robot.h b/frc971/vision/visualize_robot.h
index 31d584d..c679dba 100644
--- a/frc971/vision/visualize_robot.h
+++ b/frc971/vision/visualize_robot.h
@@ -1,13 +1,12 @@
#ifndef FRC971_VISION_VISUALIZE_ROBOT_H_
#define FRC971_VISION_VISUALIZE_ROBOT_H_
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include "Eigen/Dense"
-#include "Eigen/Geometry"
-
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/visualize_robot_sample.cc b/frc971/vision/visualize_robot_sample.cc
index 59acba0..6ca7a9c 100644
--- a/frc971/vision/visualize_robot_sample.cc
+++ b/frc971/vision/visualize_robot_sample.cc
@@ -1,19 +1,18 @@
-#include "frc971/vision/visualize_robot.h"
-
-#include "aos/init.h"
-#include "aos/logging/logging.h"
-#include "glog/logging.h"
+#include <math.h>
#include "Eigen/Dense"
-
-#include <math.h>
+#include "glog/logging.h"
#include <opencv2/aruco.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+
+#include "aos/init.h"
+#include "aos/logging/logging.h"
#include "aos/time/time.h"
+#include "frc971/vision/visualize_robot.h"
namespace frc971 {
namespace vision {