Merge pull request #280 from jcarpent/devel

Configure and apply pre-commit

.git-blame-ignore-revs

@@ -0,0 +1 @@
+0067c8aa66aac548601e2a3fd029aa264cc59f2a

.pre-commit-config.yaml

@@ -0,0 +1,14 @@
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v13.0.1
+    hooks:
+    -   id: clang-format
+        args: ['-i', '--style={BasedOnStyle: Google, SortIncludes: false}']
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+    -   id: black

INSTALL

@@ -22,7 +22,7 @@ Install:
   cd build
   cmake ..
   make -jN # N is the maximum number of parallel compile jobs
-  
+
 Once the compilation is finished,
   make install
 will install the project. To specify the installation prefix,

cmake-modules/Findassimp.cmake

@@ -3,7 +3,7 @@ if(CMAKE_SIZEOF_VOID_P EQUAL 8)
 elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
 	set(ASSIMP_ARCHITECTURE "32")
 endif(CMAKE_SIZEOF_VOID_P EQUAL 8)
-	
+
 if(WIN32)
 	set(ASSIMP_ROOT_DIR CACHE PATH "ASSIMP root directory")
 
@@ -18,12 +18,12 @@ if(WIN32)
 
 	if(MSVC12)
 		set(ASSIMP_MSVC_VERSIONS "vc120")
-	elseif(MSVC14)	
+	elseif(MSVC14)
 		set(ASSIMP_MSVC_VERSIONS "vc140;vc141")
 	endif(MSVC12)
-	
+
 	if(MSVC12 OR MSVC14)
-	
+
     foreach(ASSIMP_MSVC_VERSION ${ASSIMP_MSVC_VERSIONS})
       find_path(ASSIMP_LIBRARY_DIR
         NAMES
@@ -32,39 +32,39 @@ if(WIN32)
         HINTS
           ${ASSIMP_ROOT_DIR}/lib${ASSIMP_ARCHITECTURE}
       )
-      
+
       find_library(ASSIMP_LIBRARY_RELEASE				assimp-${ASSIMP_MSVC_VERSION}-mt.lib 			PATHS ${ASSIMP_LIBRARY_DIR})
       find_library(ASSIMP_LIBRARY_DEBUG				assimp-${ASSIMP_MSVC_VERSION}-mtd.lib			PATHS ${ASSIMP_LIBRARY_DIR})
 
       IF(NOT ASSIMP_LIBRARY_RELEASE AND NOT ASSIMP_LIBRARY_DEBUG)
         continue()
       ENDIF()
-      
+
       IF(ASSIMP_LIBRARY_DEBUG)
-        set(ASSIMP_LIBRARY 
+        set(ASSIMP_LIBRARY
           optimized 	${ASSIMP_LIBRARY_RELEASE}
           debug		${ASSIMP_LIBRARY_DEBUG}
         )
       ELSE()
-        set(ASSIMP_LIBRARY 
+        set(ASSIMP_LIBRARY
           optimized 	${ASSIMP_LIBRARY_RELEASE}
         )
       ENDIF()
-      
+
       set(ASSIMP_LIBRARIES ${ASSIMP_LIBRARY_RELEASE} ${ASSIMP_LIBRARY_DEBUG})
-    
+
       FUNCTION(ASSIMP_COPY_BINARIES TargetDirectory)
         ADD_CUSTOM_TARGET(AssimpCopyBinaries
           COMMAND ${CMAKE_COMMAND} -E copy ${ASSIMP_ROOT_DIR}/bin${ASSIMP_ARCHITECTURE}/assimp-${ASSIMP_MSVC_VERSION}-mtd.dll 	${TargetDirectory}/Debug/assimp-${ASSIMP_MSVC_VERSION}-mtd.dll
           COMMAND ${CMAKE_COMMAND} -E copy ${ASSIMP_ROOT_DIR}/bin${ASSIMP_ARCHITECTURE}/assimp-${ASSIMP_MSVC_VERSION}-mt.dll 		${TargetDirectory}/Release/assimp-${ASSIMP_MSVC_VERSION}-mt.dll
         COMMENT "Copying Assimp binaries to '${TargetDirectory}'"
         VERBATIM)
       ENDFUNCTION(ASSIMP_COPY_BINARIES)
-    
+
       SET(assimp_LIBRARIES ${ASSIMP_LIBRARY})
     endforeach()
 	endif()
-	
+
 else(WIN32)
 
 	find_path(
@@ -96,5 +96,5 @@ else(WIN32)
 		message(FATAL_ERROR "Could not find asset importer library")
 	  endif (assimp_FIND_REQUIRED)
 	endif (assimp_FOUND)
-	
+
 endif(WIN32)

doc/generate_distance_plot.py

@@ -4,27 +4,38 @@
 
 interactive = False
 
-m = 1.
+m = 1.0
 b = 1.2
 
-mb = m+b
+mb = m + b
+
+X = np.array([-mb / 2, 0, m, mb, 2 * mb])
+# X = np.linspace(-1, 4., 21)
 
-X = np.array([ -mb/2, 0, m, mb, 2*mb ])
-#X = np.linspace(-1, 4., 21)
 
 def dlb(d):
-    if d<0: return None
+    if d < 0:
+        return None
     if d > mb:
-        u = d-mb
-        return mb-m + u / 2
-    return d-m
+        u = d - mb
+        return mb - m + u / 2
+    return d - m
+
 
 plt.figure(figsize=(9, 3.5))
-#plt.plot(X, X-m, ":k")
-#plt.plot([m+b, X[-1]], [b, b], ":k")
-plt.fill_between([m+b, X[-1]], [b, b], [b, X[-1]-m], alpha=0.2, hatch="|", facecolor="g", label="Distance lower band area")
-plt.plot(X, [ dlb(x) for x in X ], "-g", label="distance lower bound")
-#plt.plot([X[0], m, m, X[-1]], [0, 0, b, b], ":k")
+# plt.plot(X, X-m, ":k")
+# plt.plot([m+b, X[-1]], [b, b], ":k")
+plt.fill_between(
+    [m + b, X[-1]],
+    [b, b],
+    [b, X[-1] - m],
+    alpha=0.2,
+    hatch="|",
+    facecolor="g",
+    label="Distance lower band area",
+)
+plt.plot(X, [dlb(x) for x in X], "-g", label="distance lower bound")
+# plt.plot([X[0], m, m, X[-1]], [0, 0, b, b], ":k")
 plt.axvspan(X[0], m, alpha=0.5, hatch="\\", facecolor="r", label="Collision area")
 
 
@@ -38,17 +49,20 @@ def dlb(d):
 ax.grid(which="minor", ls="dashed")
 
 plt.axvline(0, ls="solid")
-#plt.axvline(m, ls="dashed", label="margin")
-#plt.axvline(mb, ls="dashed")
-plt.axhline(0., ls="solid")
+# plt.axvline(m, ls="dashed", label="margin")
+# plt.axvline(mb, ls="dashed")
+plt.axhline(0.0, ls="solid")
 
 plt.title("Collision and distance lower band")
 plt.legend(loc="lower right")
 if interactive:
     plt.show()
 else:
     import os.path as path
+
     dir_path = path.dirname(path.realpath(__file__))
-    plt.savefig(path.join(dir_path, "distance_computation.png"),
-            bbox_inches="tight",
-            orientation="landscape")
+    plt.savefig(
+        path.join(dir_path, "distance_computation.png"),
+        bbox_inches="tight",
+        orientation="landscape",
+    )