Update clang-format style; add reformat bash script

.clang-format

@@ -36,7 +36,7 @@ AllowShortBlocksOnASingleLine: true
 BreakBeforeBraces: Allman
 #BreakBeforeTernaryOperators: true
 #BreakConstructorInitializersBeforeComma: false
-ColumnLimit: 80
+ColumnLimit: 100
 #CommentPragmas: ''
 #ConstructorInitializerAllOnOneLineOrOnePerLine: true
 #ConstructorInitializerIndentWidth: 4

mola_imu_preintegration/tests/test-imu-rotation-integrator.cpp

@@ -55,7 +55,8 @@ static void test_rotation_integration()
  // gtPose).norm(),1e-6);
 
  // Initial state:
- auto lambdaAssertInitialState = [&ri]() {
+ auto lambdaAssertInitialState = [&ri]()
+ {
  const auto& s = ri.current_integration_state();
  ASSERT_LT_(
  (s.deltaRij_ - mrpt::math::CMatrixDouble33::Identity()).norm(),

mola_input_euroc_dataset/src/EurocDataset.cpp

@@ -290,16 +290,17 @@ void EurocDataset::spinOnce()
 
  std::visit(
  overloaded{
- [&](std::monostate&) {
-  THROW_EXCEPTION("Un-initialized entry!");
- },
- [&](SensorCamera& cam) {
+ [&](std::monostate&)
+ { THROW_EXCEPTION("Un-initialized entry!"); },
+ [&](SensorCamera& cam)
+ {
  build_dataset_entry_obs(cam);
  cam.obs->timestamp = obs_tim;
  this->sendObservationsToFrontEnds(cam.obs);
  cam.obs.reset(); // free mem
  },
- [&](SensorIMU& imu) {
+ [&](SensorIMU& imu)
+ {
  build_dataset_entry_obs(imu);
  imu.obs->timestamp = obs_tim;
  this->sendObservationsToFrontEnds(imu.obs);
@@ -330,9 +331,8 @@ void EurocDataset::spinOnce()
  //
  std::visit(
  overloaded{
- [&](std::monostate&) {
- THROW_EXCEPTION("Un-initialized entry!");
- },
+ [&](std::monostate&)
+ { THROW_EXCEPTION("Un-initialized entry!"); },
  [&](SensorCamera& cam) { build_dataset_entry_obs(cam); },
  [&](SensorIMU& imu) { build_dataset_entry_obs(imu); }},
  peeker->second);

mola_input_mulran_dataset/src/MulranDataset.cpp

@@ -468,7 +468,7 @@ void MulranDataset::load_lidar(timestep_t step) const
  // Pose:
  obs->sensorPose = ousterPoseOnVehicle_;
  obs->timestamp = mrpt::Clock::fromDouble(
- LidarFileNameToTimestamp(lstPointCloudFiles_[step]));
+  LidarFileNameToTimestamp(lstPointCloudFiles_[step]));
 
 #if 0 // Export clouds to txt for debugging externally (e.g. python, matlab)
  pts->saveXYZIRT_to_text_file(

mola_input_paris_luco_dataset/src/ParisLucoDataset.cpp

@@ -274,9 +274,9 @@ void ParisLucoDataset::load_lidar(timestep_t step) const
  const float earliestTime = *std::min_element(Ts->cbegin(), Ts->cend());
  const float shiftTime = -earliestTime - 0.5 * lidarPeriod_;
 
- std::transform(Ts->cbegin(), Ts->cend(), Ts->begin(), [=](double t) {
- return t + shiftTime;
- });
+ std::transform(
+ Ts->cbegin(), Ts->cend(), Ts->begin(),
+  [=](double t) { return t + shiftTime; });
 
  // Fix missing RING_ID: ParisLuco does not have a RING_ID field,
  // but we can generate it from the timestamps + pitch angle:

mola_input_rawlog/src/RawlogDataset.cpp

@@ -202,22 +202,23 @@ void RawlogDataset::doReadAheadFromFile()
  std::dynamic_pointer_cast<mrpt::obs::CSensoryFrame>(
  obj);
  sf)
- {
- for (const auto& o : *sf)
- read_ahead_.emplace(o->getTimeStamp(), o);
- }
- else if (auto acts = std::dynamic_pointer_cast<
- mrpt::obs::CActionCollection>(obj);
- acts)
- {
- // odometry actions: ignore
- }
- else
- THROW_EXCEPTION_FMT(
- "Rawlog file can contain classes: "
- "CObservation|CSensoryFrame|CActionCollection, but class "
- "'%s' found.",
- obj->GetRuntimeClass()->className);
+ {
+ for (const auto& o : *sf)
+ read_ahead_.emplace(o->getTimeStamp(), o);
+ }
+ else if (auto acts = std::dynamic_pointer_cast<
+ mrpt::obs::CActionCollection>(obj);
+ acts)
+ {
+ // odometry actions: ignore
+ }
+ else
+ THROW_EXCEPTION_FMT(
+ "Rawlog file can contain classes: "
+ "CObservation|CSensoryFrame|CActionCollection, but "
+ "class "
+ "'%s' found.",
+ obj->GetRuntimeClass()->className);
  }
  catch (const mrpt::serialization::CExceptionEOF&)
  {
@@ -247,22 +248,22 @@ void RawlogDataset::doReadAheadFromEntireRawlog()
  if (auto sf =
  std::dynamic_pointer_cast<mrpt::obs::CSensoryFrame>(obj);
  sf)
- {
- for (const auto& o : *sf) read_ahead_.emplace(o->getTimeStamp(), o);
- }
- else if (auto acts =
-  std::dynamic_pointer_cast<mrpt::obs::CActionCollection>(
- obj);
- acts)
- {
- // odometry actions: ignore
- }
- else
- THROW_EXCEPTION_FMT(
- "Rawlog file can contain classes: "
- "CObservation|CSensoryFrame|CActionCollection, but class "
- "'%s' found.",
- obj->GetRuntimeClass()->className);
+  {
+  for (const auto& o : *sf)
+  read_ahead_.emplace(o->getTimeStamp(), o);
+  }
+ else if (auto acts = std::dynamic_pointer_cast<
+ mrpt::obs::CActionCollection>(obj);
+  acts)
+  {
+  // odometry actions: ignore
+  }
+  else
+  THROW_EXCEPTION_FMT(
+  "Rawlog file can contain classes: "
+  "CObservation|CSensoryFrame|CActionCollection, but class "
+  "'%s' found.",
+  obj->GetRuntimeClass()->className);
  }
 }
 
@@ -331,17 +332,18 @@ mrpt::obs::CSensoryFrame::Ptr RawlogDataset::datasetGetObservations(
  else //
  if (auto sf = std::dynamic_pointer_cast<mrpt::obs::CSensoryFrame>(obj);
  sf)
- {
- sfRet = sf;
+  {
+  sfRet = sf;
 
- for (auto& o : *sf) unload_queue_.emplace(o->getTimeStamp(), o);
- }
- else if (auto acts =
- std::dynamic_pointer_cast<mrpt::obs::CActionCollection>(obj);
- acts)
- {
- // odometry actions: ignore
- }
+ for (auto& o : *sf) unload_queue_.emplace(o->getTimeStamp(), o);
+ }
+ else if (auto acts =
+ std::dynamic_pointer_cast<mrpt::obs::CActionCollection>(
+ obj);
+ acts)
+ {
+ // odometry actions: ignore
+ }
 
  return sfRet;
 }

mola_kernel/src/Entity.cpp

@@ -21,7 +21,8 @@ EntityBase& mola::entity_get_base(Entity& e)
  std::visit(
  overloaded{
  [&ret](EntityBase& b) { ret = &b; },
- [&ret](EntityOther& o) {
+ [&ret](EntityOther& o)
+ {
  ASSERT_(o);
  ret = o.get();
  },
@@ -39,7 +40,8 @@ const EntityBase& mola::entity_get_base(const Entity& e)
  std::visit(
  overloaded{
  [&ret](const EntityBase& b) { ret = &b; },
- [&ret](const EntityOther& o) {
+ [&ret](const EntityOther& o)
+ {
  ASSERT_(o);
  ret = o.get();
  },
@@ -56,15 +58,17 @@ void mola::entity_update_pose(mola::Entity& e, const mrpt::math::TPose3D& p)
 
  std::visit(
  overloaded{
- [&](RefPose3&) {
+ [&](RefPose3&)
+ {
  ASSERTMSG_(
  p == mrpt::math::TPose3D::Identity(),
  "RefPose3 cannot be assigned a pose != Identity()");
  },
  [&](RelDynPose3KF& ee) { ee.relpose_value = p; },
  [&](RelPose3& ee) { ee.relpose_value = p; },
  [&](RelPose3KF& ee) { ee.relpose_value = p; },
- []([[maybe_unused]] auto ee) {
+ []([[maybe_unused]] auto ee)
+ {
  throw std::runtime_error(
  mrpt::format("[updateEntityPose] Unknown Entity type!"));
  },
@@ -86,14 +90,16 @@ void mola::entity_update_vel(mola::Entity& e, const std::array<double, 3>& v)
  "RefPose3 cannot be assigned a velocity!=0");
 #endif
  },
- [&](RelDynPose3KF& ee) {
+ [&](RelDynPose3KF& ee)
+ {
  ee.twist_value.vx = v[0];
  ee.twist_value.vy = v[1];
  ee.twist_value.vz = v[2];
  },
  [&](RelPose3&) {},
  [&](RelPose3KF&) {},
- []([[maybe_unused]] auto ee) {
+ []([[maybe_unused]] auto ee)
+ {
  throw std::runtime_error(
  mrpt::format("[updateEntityPose] Unknown Entity type!"));
  },
@@ -113,7 +119,8 @@ mrpt::math::TTwist3D mola::entity_get_twist(const mola::Entity& e)
  [&](const RelDynPose3KF& ee) { ret = ee.twist_value; },
  [&](const RelPose3&) {},
  [&](const RelPose3KF&) {},
- []([[maybe_unused]] auto ee) {
+ []([[maybe_unused]] auto ee)
+ {
  throw std::runtime_error(
  mrpt::format("[updateEntityPose] Unknown Entity type!"));
  },
@@ -134,7 +141,8 @@ mrpt::math::TPose3D mola::entity_get_pose(const mola::Entity& e)
  [&](const RelDynPose3KF& ee) { ret = ee.relpose_value; },
  [&](const RelPose3& ee) { ret = ee.relpose_value; },
  [&](const RelPose3KF& ee) { ret = ee.relpose_value; },
- []([[maybe_unused]] auto ee) {
+ []([[maybe_unused]] auto ee)
+ {
  throw std::runtime_error(
  mrpt::format("[getEntityPose] Unknown Entity type!"));
  },
@@ -154,7 +162,8 @@ mrpt::Clock::time_point mola::entity_get_timestamp(const mola::Entity& e)
  overloaded{
  [&](const EntityBase& ee) { ret = ee.timestamp_; },
  [&](const EntityOther& ee) { ret = ee->timestamp_; },
- [](std::monostate) {
+ [](std::monostate)
+ {
  throw std::runtime_error(
  mrpt::format("[getEntityTimeStamp] Unknown Entity type!"));
  },

mola_kernel/src/Factor.cpp

@@ -21,7 +21,8 @@ FactorBase& mola::factor_get_base(Factor& f)
  std::visit(
  overloaded{
  [&ret](FactorBase& b) { ret = &b; },
- [&ret](FactorOther& o) {
+ [&ret](FactorOther& o)
+ {
  ASSERT_(o);
  ret = o.get();
  },
@@ -39,7 +40,8 @@ const FactorBase& mola::factor_get_base(const Factor& f)
  std::visit(
  overloaded{
  [&ret](const FactorBase& b) { ret = &b; },
- [&ret](const FactorOther& o) {
+ [&ret](const FactorOther& o)
+ {
  ASSERT_(o);
  ret = o.get();
  },

mola_kernel/src/factors/FactorConstVelKinematics.cpp

@@ -34,7 +34,7 @@ mola::id_t FactorConstVelKinematics::edge_indices(const std::size_t i) const
 // Implementation of the CSerializable virtual interface:
 uint8_t FactorConstVelKinematics::serializeGetVersion() const { return 0; }
 void FactorConstVelKinematics::serializeTo(
- mrpt::serialization::CArchive& out) const
+  mrpt::serialization::CArchive& out) const
 {
  baseSerializeTo(out);
  out << from_kf_ << to_kf_ << deltaTime_;

mola_kernel/src/factors/FactorStereoProjectionPose.cpp

@@ -29,7 +29,7 @@ mola::id_t FactorStereoProjectionPose::edge_indices(const std::size_t i) const
 // Implementation of the CSerializable virtual interface:
 uint8_t FactorStereoProjectionPose::serializeGetVersion() const { return 0; }
 void FactorStereoProjectionPose::serializeTo(
- mrpt::serialization::CArchive& out) const
+  mrpt::serialization::CArchive& out) const
 {
  baseSerializeTo(out);
  out << sigma_xleft_ << sigma_xright_ << sigma_y_ << observation_.x_left

mola_kernel/src/interfaces/FilterBase.cpp

@@ -43,7 +43,8 @@ void FilterBase::spinOnce()
 void FilterBase::onNewObservation(const CObservation::Ptr& o)
 {
  const auto obsFut = thread_pool_.enqueue(
- [this](const CObservation::Ptr& in) {
+ [this](const CObservation::Ptr& in)
+ {
  try
  {
  // Process the observation:

mola_kernel/src/interfaces/RawDataSourceBase.cpp

@@ -143,7 +143,8 @@ void RawDataSourceBase::sendObservationsToFrontEnds(
  if (export_to_rawlog_out_.is_open())
  {
  auto fut = worker_pool_export_rawlog_.enqueue(
- [this](mrpt::obs::CObservation::Ptr o) {
+ [this](mrpt::obs::CObservation::Ptr o)
+ {
  if (!o) return;
  auto a = mrpt::serialization::archiveFrom(
  this->export_to_rawlog_out_);
@@ -159,7 +160,8 @@ void RawDataSourceBase::sendObservationsToFrontEnds(
  // Create and enque the GUI update function, as a lambda:
  RawDataSourceBase::SensorViewerImpl* sv = &(*it_sen_gui->second);
 
- auto func = [this, sv, obs]() {
+ auto func = [this, sv, obs]()
+ {
  try
  {
  ProfilerEntry pe(profiler_, "send to viz lambda");

mola_kernel/src/pretty_print_exception.cpp

@@ -26,7 +26,8 @@ void mola::pretty_print_exception(
 
  auto& o = use_std_cerr ? std::cerr : std::cout;
 
- const auto setFormatRed = [=](const ConsoleTextStyle style) {
+ const auto setFormatRed = [=](const ConsoleTextStyle style)
+ {
 #if MRPT_VERSION >= 0x233
  consoleColorAndStyle(
  ConsoleForegroundColor::RED, ConsoleBackgroundColor::DEFAULT, style,
@@ -36,7 +37,8 @@ void mola::pretty_print_exception(
 #endif
  };
 
- const auto resetFormat = [=]() {
+ const auto resetFormat = [=]()
+ {
 #if MRPT_VERSION >= 0x233
  consoleColorAndStyle(
  ConsoleForegroundColor::DEFAULT, ConsoleBackgroundColor::DEFAULT,

mola_launcher/src/MolaDLL_Loader.cpp

@@ -11,8 +11,10 @@
  */
 
 #include "MolaDLL_Loader.h"
+
 #include <mrpt/core/exceptions.h>
 #include <mrpt/system/CDirectoryExplorer.h>
+
 #include <map>
 
 #if defined(__unix__)

mola_launcher/src/MolaDLL_Loader.h

@@ -13,6 +13,7 @@
 #pragma once
 
 #include <mrpt/system/COutputLogger.h>
+
 #include <string>
 #include <vector>