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/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index cfb8a9a..9168b4b 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -35,15 +35,22 @@
chrono::duration_cast<chrono::nanoseconds>(
chrono::duration<double>(drivetrain::kDt)),
- drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
- drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
drivetrain::kJ,
drivetrain::kMass,
- kThreeStateDriveShifter, kThreeStateDriveShifter,
- true /* default_high_gear */, 0 /* down_offset if using constants use
- constants::GetValues().down_error */,
- 0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true /* default_high_gear */,
+ 0 /* down_offset if using constants use
+ constants::GetValues().down_error */
+ ,
+ 0.8 /* wheel_non_linearity */,
+ 1.2 /* quickturn_wheel_multiplier */,
1.5 /* wheel_multiplier */,
};
diff --git a/y2018/control_loops/python/2d_plot.cc b/y2018/control_loops/python/2d_plot.cc
index 9fb1a35..1d2a686 100644
--- a/y2018/control_loops/python/2d_plot.cc
+++ b/y2018/control_loops/python/2d_plot.cc
@@ -8,8 +8,7 @@
DEFINE_double(yrange, 1.0, "+- y max");
double fx(double x, double yrange) {
- return 2.0 * ((1.0 / (1.0 + ::std::exp(-x * 2.0 / yrange)) - 0.5)) *
- yrange;
+ return 2.0 * ((1.0 / (1.0 + ::std::exp(-x * 2.0 / yrange)) - 0.5)) * yrange;
}
int main(int argc, char **argv) {
@@ -32,5 +31,4 @@
matplotlibcpp::plot(x, slope_y, {{"label", "slope"}});
matplotlibcpp::legend();
matplotlibcpp::show();
-
}
diff --git a/y2018/control_loops/python/arm_bounds.h b/y2018/control_loops/python/arm_bounds.h
index b69f661..c175616 100644
--- a/y2018/control_loops/python/arm_bounds.h
+++ b/y2018/control_loops/python/arm_bounds.h
@@ -25,7 +25,6 @@
typedef K::Line_2 Line;
typedef K::Vector_2 Vector;
-
// Returns true if the point p3 is to the left of the vector from p1 to p2.
inline bool is_left(Point p1, Point p2, Point p3) {
switch (CGAL::orientation(p1, p2, p3)) {
@@ -91,9 +90,9 @@
{bbox.xmin(), bbox.ymax()}};
return std::vector<Segment>({{points[0], points[1]},
- {points[1], points[2]},
- {points[2], points[3]},
- {points[3], points[0]}});
+ {points[1], points[2]},
+ {points[2], points[3]},
+ {points[3], points[0]}});
}
static bool check_inside(Point pt, const std::vector<Point> &points) {
diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index ab5deea..0749e3f 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -4,9 +4,9 @@
#include <iostream>
#include "aos/logging/logging.h"
-#include "y2018/constants.h"
#include "frc971/control_loops/double_jointed_arm/demo_path.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/constants.h"
#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
@@ -172,7 +172,7 @@
break;
}
}
- [[fallthrough]];
+ [[fallthrough]];
case State::GOTO_PATH:
if (outputs_disabled) {
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 51d6c4d..0b0a6a4 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -2,18 +2,18 @@
#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
#include "aos/time/time.h"
-#include "frc971/zeroing/zeroing.h"
-#include "y2018/constants.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
-#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "frc971/control_loops/double_jointed_arm/graph.h"
#include "frc971/control_loops/double_jointed_arm/trajectory.h"
+#include "frc971/zeroing/zeroing.h"
+#include "y2018/constants.h"
+#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
-using frc971::control_loops::arm::TrajectoryFollower;
using frc971::control_loops::arm::EKF;
+using frc971::control_loops::arm::TrajectoryFollower;
namespace y2018 {
namespace control_loops {
diff --git a/y2018/control_loops/superstructure/arm/arm_constants.h b/y2018/control_loops/superstructure/arm/arm_constants.h
index 1697a8e..932da7a 100644
--- a/y2018/control_loops/superstructure/arm/arm_constants.h
+++ b/y2018/control_loops/superstructure/arm/arm_constants.h
@@ -44,10 +44,9 @@
.num_distal_motors = 2.0,
};
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2018
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
-
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
diff --git a/y2018/control_loops/superstructure/arm/trajectory_plot.cc b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
index 0cee664..7fdde3f 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
@@ -1,9 +1,10 @@
+#include "gflags/gflags.h"
+
#include "aos/init.h"
#include "frc971/analysis/in_process_plotter.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "frc971/control_loops/double_jointed_arm/trajectory.h"
-#include "gflags/gflags.h"
#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
diff --git a/y2018/control_loops/superstructure/superstructure.h b/y2018/control_loops/superstructure/superstructure.h
index 63adbb2..6621794 100644
--- a/y2018/control_loops/superstructure/superstructure.h
+++ b/y2018/control_loops/superstructure/superstructure.h
@@ -3,9 +3,9 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2018/control_loops/superstructure/arm/arm.h"
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 54342c5..b142420 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,12 +3,13 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/control_loop_test.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2018/constants.h"
-#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "y2018/control_loops/superstructure/intake/intake_plant.h"
@@ -414,8 +415,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -446,8 +446,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -476,8 +475,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -516,8 +514,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -561,8 +558,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
{
@@ -580,8 +576,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -609,8 +604,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -639,8 +633,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -688,8 +681,7 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
EXPECT_EQ(arm::Arm::State::RUNNING, superstructure_.arm().state());
@@ -713,8 +705,7 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -736,8 +727,7 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -764,8 +754,7 @@
goal_builder.add_arm_goal_position(arm::BackLowBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -787,8 +776,7 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
diff --git a/y2018/control_loops/superstructure/superstructure_main.cc b/y2018/control_loops/superstructure/superstructure_main.cc
index 108cbdf..5bf15ad 100644
--- a/y2018/control_loops/superstructure/superstructure_main.cc
+++ b/y2018/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2018/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2018/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);