Format using google style

towr/include/towr/constraints/base_motion_constraint.h

@@ -30,8 +30,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
 #define TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
 
-#include <towr/variables/spline_holder.h>
 #include <towr/variables/spline.h>
+#include <towr/variables/spline_holder.h>
 
 #include "time_discretization_constraint.h"
 
@@ -46,26 +46,27 @@ namespace towr {
  * @ingroup Constraints
  */
 class BaseMotionConstraint : public TimeDiscretizationConstraint {
-public:
+ public:
   /**
    * @brief Links the base variables and sets hardcoded bounds on the state.
    * @param T  The total time of the optimization horizon.
    * @param dt The discretization interval of the constraints.
    * @param spline_holder  Holds pointers to the base variables.
    */
-  BaseMotionConstraint (double T, double dt, const SplineHolder& spline_holder);
-  virtual ~BaseMotionConstraint () = default;
+  BaseMotionConstraint(double T, double dt, const SplineHolder& spline_holder);
+  virtual ~BaseMotionConstraint() = default;
 
-  void UpdateConstraintAtInstance (double t, int k, VectorXd& g) const override;
-  void UpdateBoundsAtInstance (double t, int k, VecBound&) const override;
-  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
+  void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const override;
+  void UpdateBoundsAtInstance(double t, int k, VecBound&) const override;
+  void UpdateJacobianAtInstance(double t, int k, std::string,
+                                Jacobian&) const override;
 
-private:
+ private:
   NodeSpline::Ptr base_linear_;
   NodeSpline::Ptr base_angular_;
 
-  VecBound node_bounds_;     ///< same bounds for each discretized node
-  int GetRow (int node, int dim) const;
+  VecBound node_bounds_;  ///< same bounds for each discretized node
+  int GetRow(int node, int dim) const;
 };
 
 } /* namespace towr */

towr/include/towr/constraints/dynamic_constraint.h

@@ -30,9 +30,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_
 #define TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_
 
+#include <towr/variables/euler_converter.h>
 #include <towr/variables/spline.h>
 #include <towr/variables/spline_holder.h>
-#include <towr/variables/euler_converter.h>
 
 #include <towr/models/dynamic_model.h>
 
@@ -61,7 +61,7 @@ namespace towr {
  * @ingroup Constraints
  */
 class DynamicConstraint : public TimeDiscretizationConstraint {
-public:
+ public:
   using Vector6d = Eigen::Matrix<double, 6, 1>;
 
   /**
@@ -71,18 +71,17 @@ class DynamicConstraint : public TimeDiscretizationConstraint {
    * @param dt  the discretization intervall at which to enforce constraints.
    * @param spline_holder  A pointer to the current optimization variables.
    */
-  DynamicConstraint (const DynamicModel::Ptr& model,
-                     double T, double dt,
-                     const SplineHolder& spline_holder);
-  virtual ~DynamicConstraint () = default;
+  DynamicConstraint(const DynamicModel::Ptr& model, double T, double dt,
+                    const SplineHolder& spline_holder);
+  virtual ~DynamicConstraint() = default;
 
-private:
-  NodeSpline::Ptr base_linear_;   ///< lin. base pos/vel/acc in world frame
-  EulerConverter base_angular_;        ///< angular base state
-  std::vector<NodeSpline::Ptr> ee_forces_; ///< endeffector forces in world frame.
-  std::vector<NodeSpline::Ptr> ee_motion_; ///< endeffector position in world frame.
+ private:
+  NodeSpline::Ptr base_linear_;  ///< lin. base pos/vel/acc in world frame
+  EulerConverter base_angular_;  ///< angular base state
+  std::vector<NodeSpline::Ptr> ee_forces_;  ///< eef forces in world frame.
+  std::vector<NodeSpline::Ptr> ee_motion_;  ///< eff position in world frame.
 
-  mutable DynamicModel::Ptr model_;    ///< the dynamic model (e.g. Centroidal)
+  mutable DynamicModel::Ptr model_;  ///< the dynamic model (e.g. Centroidal)
 
   /**
    * @brief The row in the overall constraint for this evaluation time.
@@ -100,7 +99,8 @@ class DynamicConstraint : public TimeDiscretizationConstraint {
 
   void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const override;
   void UpdateBoundsAtInstance(double t, int k, VecBound& bounds) const override;
-  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
+  void UpdateJacobianAtInstance(double t, int k, std::string,
+                                Jacobian&) const override;
 };
 
 } /* namespace towr */

towr/include/towr/constraints/force_constraint.h

@@ -32,8 +32,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <ifopt/constraint_set.h>
 
+#include <towr/terrain/height_map.h>  // for friction cone
 #include <towr/variables/nodes_variables_phase_based.h>
-#include <towr/terrain/height_map.h> // for friction cone
 
 namespace towr {
 
@@ -53,36 +53,35 @@ namespace towr {
  * @ingroup Constraints
  */
 class ForceConstraint : public ifopt::ConstraintSet {
-public:
+ public:
   using Vector3d = Eigen::Vector3d;
-  using EE = uint;
+  using EE       = uint;
 
   /**
    * @brief Constructs a force contraint.
    * @param terrain  The gradient information of the terrain for friction cone.
    * @param force_limit_in_normal_direction  Maximum pushing force [N].
    * @param endeffector_id Which endeffector force should be constrained.
    */
-  ForceConstraint (const HeightMap::Ptr& terrain,
-                   double force_limit_in_normal_direction,
-                   EE endeffector_id);
-  virtual ~ForceConstraint () = default;
+  ForceConstraint(const HeightMap::Ptr& terrain,
+                  double force_limit_in_normal_direction, EE endeffector_id);
+  virtual ~ForceConstraint() = default;
 
   void InitVariableDependedQuantities(const VariablesPtr& x) override;
 
   VectorXd GetValues() const override;
   VecBound GetBounds() const override;
-  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
+  void FillJacobianBlock(std::string var_set, Jacobian&) const override;
 
-private:
-  NodesVariablesPhaseBased::Ptr ee_force_;  ///< the current xyz foot forces.
-  NodesVariablesPhaseBased::Ptr ee_motion_; ///< the current xyz foot positions.
+ private:
+  NodesVariablesPhaseBased::Ptr ee_force_;   ///< the current xyz foot forces.
+  NodesVariablesPhaseBased::Ptr ee_motion_;  ///< the current xyz foot pos/ns.
 
-  HeightMap::Ptr terrain_; ///< gradient information at every position (x,y).
-  double fn_max_;          ///< force limit in normal direction.
-  double mu_;              ///< friction coeff between robot feet and terrain.
-  int n_constraints_per_node_; ///< number of constraint for each node.
-  EE ee_;                  ///< The endeffector force to be constrained.
+  HeightMap::Ptr terrain_;  ///< gradient information at every position (x,y).
+  double fn_max_;           ///< force limit in normal direction.
+  double mu_;               ///< friction coeff between robot feet and terrain.
+  int n_constraints_per_node_;  ///< number of constraint for each node.
+  EE ee_;                       ///< The endeffector force to be constrained.
 
   /**
    * The are those Hermite-nodes that shape the polynomial during the

towr/include/towr/constraints/linear_constraint.h

@@ -40,7 +40,7 @@ namespace towr {
  * @ingroup Constraints
  */
 class LinearEqualityConstraint : public ifopt::ConstraintSet {
-public:
+ public:
   using MatrixXd = Eigen::MatrixXd;
 
   /**
@@ -50,16 +50,15 @@ class LinearEqualityConstraint : public ifopt::ConstraintSet {
    * @param v  The vector v defining the constanct offset.
    * @param variable_set  The name of the variables x.
    */
-  LinearEqualityConstraint (const MatrixXd& M,
-                            const VectorXd& v,
-                            const std::string& variable_set);
-  virtual ~LinearEqualityConstraint () = default;
+  LinearEqualityConstraint(const MatrixXd& M, const VectorXd& v,
+                           const std::string& variable_set);
+  virtual ~LinearEqualityConstraint() = default;
 
   VectorXd GetValues() const final;
   VecBound GetBounds() const final;
-  void FillJacobianBlock (std::string var_set, Jacobian&) const final;
+  void FillJacobianBlock(std::string var_set, Jacobian&) const final;
 
-private:
+ private:
   MatrixXd M_;
   VectorXd v_;
   std::string variable_name_;

towr/include/towr/constraints/range_of_motion_constraint.h

@@ -30,9 +30,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_
 #define TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_
 
+#include <towr/variables/euler_converter.h>
 #include <towr/variables/spline.h>
 #include <towr/variables/spline_holder.h>
-#include <towr/variables/euler_converter.h>
 
 #include <towr/models/kinematic_model.h>
 
@@ -53,8 +53,8 @@ namespace towr {
   * @ingroup Constraints
   */
 class RangeOfMotionConstraint : public TimeDiscretizationConstraint {
-public:
-  using EE = uint;
+ public:
+  using EE       = uint;
   using Vector3d = Eigen::Vector3d;
 
   /**
@@ -65,25 +65,25 @@ class RangeOfMotionConstraint : public TimeDiscretizationConstraint {
    * @param ee            The endeffector for which to constrain the range.
    * @param spline_holder Pointer to the current variables.
    */
-  RangeOfMotionConstraint(const KinematicModel::Ptr& robot_model,
-                          double T, double dt,
-                          const EE& ee,
+  RangeOfMotionConstraint(const KinematicModel::Ptr& robot_model, double T,
+                          double dt, const EE& ee,
                           const SplineHolder& spline_holder);
   virtual ~RangeOfMotionConstraint() = default;
 
-private:
-  NodeSpline::Ptr base_linear_;     ///< the linear position of the base.
-  EulerConverter base_angular_; ///< the orientation of the base.
-  NodeSpline::Ptr ee_motion_;       ///< the linear position of the endeffectors.
+ private:
+  NodeSpline::Ptr base_linear_;  ///< the linear position of the base.
+  EulerConverter base_angular_;  ///< the orientation of the base.
+  NodeSpline::Ptr ee_motion_;    ///< the linear position of the endeffectors.
 
   Eigen::Vector3d max_deviation_from_nominal_;
   Eigen::Vector3d nominal_ee_pos_B_;
   EE ee_;
 
   // see TimeDiscretizationConstraint for documentation
-  void UpdateConstraintAtInstance (double t, int k, VectorXd& g) const override;
-  void UpdateBoundsAtInstance (double t, int k, VecBound&) const override;
-  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
+  void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const override;
+  void UpdateBoundsAtInstance(double t, int k, VecBound&) const override;
+  void UpdateJacobianAtInstance(double t, int k, std::string,
+                                Jacobian&) const override;
 
   int GetRow(int node, int dimension) const;
 };

towr/include/towr/constraints/spline_acc_constraint.h

@@ -46,21 +46,21 @@ namespace towr {
  * @ingroup Constraints
  */
 class SplineAccConstraint : public ifopt::ConstraintSet {
-public:
+ public:
   SplineAccConstraint(const NodeSpline::Ptr& spline, std::string name);
   virtual ~SplineAccConstraint() = default;
 
   VectorXd GetValues() const override;
   VecBound GetBounds() const override;
-  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
+  void FillJacobianBlock(std::string var_set, Jacobian&) const override;
 
-private:
-  NodeSpline::Ptr spline_;        ///< a spline comprised of polynomials
-  std::string node_variables_id_; /// polynomial parameterized node values
+ private:
+  NodeSpline::Ptr spline_;         ///< a spline comprised of polynomials
+  std::string node_variables_id_;  /// polynomial parameterized node values
 
-  int n_junctions_;       ///< number of junctions between polynomials in spline.
-  int n_dim_;             ///< dimensions that this polynomial represents (e.g. x,y).
-  std::vector<double> T_; ///< Duration of each polynomial in spline.
+  int n_junctions_;  ///< number of junctions between polynomials in spline.
+  int n_dim_;        ///< dimensions that this polynomial represents (e.g. x,y).
+  std::vector<double> T_;  ///< Duration of each polynomial in spline.
 };
 
 } /* namespace towr */

towr/include/towr/constraints/swing_constraint.h

@@ -47,23 +47,23 @@ namespace towr {
  * @ingroup Constraints
  */
 class SwingConstraint : public ifopt::ConstraintSet {
-public:
+ public:
   using Vector2d = Eigen::Vector2d;
 
   /**
    * @brief Links the swing constraint with current foot variables.
    * @param ee_motion_id  The name of the foot variables in the optimization.
    */
-  SwingConstraint (std::string ee_motion_id);
-  virtual ~SwingConstraint () = default;
+  SwingConstraint(std::string ee_motion_id);
+  virtual ~SwingConstraint() = default;
 
   VectorXd GetValues() const override;
   VecBound GetBounds() const override;
-  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
+  void FillJacobianBlock(std::string var_set, Jacobian&) const override;
 
   void InitVariableDependedQuantities(const VariablesPtr& x) override;
 
-private:
+ private:
   NodesVariablesPhaseBased::Ptr ee_motion_;
   double t_swing_avg_ = 0.3;
   std::string ee_motion_id_;

towr/include/towr/constraints/terrain_constraint.h

@@ -32,8 +32,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <ifopt/constraint_set.h>
 
-#include <towr/variables/nodes_variables_phase_based.h>
 #include <towr/terrain/height_map.h>
+#include <towr/variables/nodes_variables_phase_based.h>
 
 namespace towr {
 
@@ -49,29 +49,30 @@ namespace towr {
  * @ingroup Constraints
  */
 class TerrainConstraint : public ifopt::ConstraintSet {
-public:
+ public:
   using Vector3d = Eigen::Vector3d;
 
   /**
    * @brief Constructs a terrain constraint.
    * @param terrain  The terrain height value and slope for each position x,y.
    * @param ee_motion_id The name of the endeffector variable set.
    */
-  TerrainConstraint (const HeightMap::Ptr& terrain, std::string ee_motion_id);
-  virtual ~TerrainConstraint () = default;
+  TerrainConstraint(const HeightMap::Ptr& terrain, std::string ee_motion_id);
+  virtual ~TerrainConstraint() = default;
 
   void InitVariableDependedQuantities(const VariablesPtr& x) override;
 
   VectorXd GetValues() const override;
   VecBound GetBounds() const override;
-  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
+  void FillJacobianBlock(std::string var_set, Jacobian&) const override;
 
-private:
-  NodesVariablesPhaseBased::Ptr ee_motion_; ///< the position of the endeffector.
-  HeightMap::Ptr terrain_;    ///< the height map of the current terrain.
+ private:
+  NodesVariablesPhaseBased::Ptr
+      ee_motion_;           ///< the position of the endeffector.
+  HeightMap::Ptr terrain_;  ///< the height map of the current terrain.
 
-  std::string ee_motion_id_;  ///< the name of the endeffector variable set.
-  std::vector<int> node_ids_; ///< the indices of the nodes constrained.
+  std::string ee_motion_id_;   ///< the name of the endeffector variable set.
+  std::vector<int> node_ids_;  ///< the indices of the nodes constrained.
 };
 
 } /* namespace towr */