Clang format (moveit#43)

* clang formatting

* adding clang-format notes to README

* fixing build warnings

.clang-format

@@ -0,0 +1,66 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+ AfterClass: 'true'
+ AfterControlStatement: 'true'
+ AfterEnum : 'true'
+ AfterFunction : 'true'
+ AfterNamespace : 'true'
+ AfterStruct : 'true'
+ AfterUnion : 'true'
+ BeforeCatch : 'true'
+ BeforeElse : 'true'
+ IndentBraces : 'false'
+}
+...

README.md

@@ -31,3 +31,7 @@ Then open ``LOCAL_PACKAGE_PATH/build/html/index.html`` in your web browser.
 ## Deployment
 
 For deploying documentation changes to the web, [Section 3 of rosdoc_lite wiki](http://wiki.ros.org/rosdoc_lite) says that "rosdoc_lite is automatically run for packages in repositories that have rosinstall files listed in the rosdistro repository." This is done about once every 24 hours, [overnight](http://wiki.ros.org/rosdistro/Tutorials/Indexing%20Your%20ROS%20Repository%20for%20Documentation%20Generation).
+
+## Contributing
+
+These tutorials use the same [style guidelines](http://moveit.ros.org/documentation/contributing/code/) as the MoveIt! project. When modifying or adding to these tutorials, it is required that code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code/).

doc/collision_contact/src/collision_contact_tutorial.cpp

@@ -125,7 +125,9 @@ void computeCollisionContactPoints(InteractiveRobot& robot)
  // the contact points for something other than displaying them you can
  // iterate through **c_res.contacts** which is a std::map of contact points.
  // Look at the implementation of getCollisionMarkersFromContacts() in
- // `collision_tools.cpp <https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_core/collision_detection/src/collision_tools.cpp>`_ for how.
+ // `collision_tools.cpp
+ // <https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_core/collision_detection/src/collision_tools.cpp>`_
+ // for how.
  if (c_res.collision)
  {
  ROS_INFO("COLLIDING contact_point_count=%d", (int)c_res.contact_count);
@@ -139,10 +141,7 @@ void computeCollisionContactPoints(InteractiveRobot& robot)
  visualization_msgs::MarkerArray markers;
 
  /* Get the contact ponts and display them as markers */
- collision_detection::getCollisionMarkersFromContacts(markers,
- "panda_link0",
- c_res.contacts,
- color,
+ collision_detection::getCollisionMarkersFromContacts(markers, "panda_link0", c_res.contacts, color,
  ros::Duration(), // remain until deleted
  0.01); // radius
  publishMarkers(markers);
@@ -170,7 +169,7 @@ int main(int argc, char** argv)
  // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  // For this tutorial we use an :codedir:`InteractiveRobot <interactivity/src/interactive_robot.cpp>`
  // object as a wrapper that combines a robot_model with the cube and an interactive marker. We also
-  // create a :planning_scene:`PlanningScene` for collision checking. If you haven't already gone through the
+ // create a :planning_scene:`PlanningScene` for collision checking. If you haven't already gone through the
  // `planning scene tutorial <../planning_scene/planning_scene_tutorial.html>`_, you go through that first.
  InteractiveRobot robot;
  /* Create a PlanningScene */

doc/interactivity/include/interactivity/pose_string.h

@@ -43,7 +43,7 @@
 #include <Eigen/Geometry>
 #include <string>
 
-std::string PoseString(const geometry_msgs::Pose &pose);
-std::string PoseString(const Eigen::Affine3d &pose);
+std::string PoseString(const geometry_msgs::Pose& pose);
+std::string PoseString(const Eigen::Affine3d& pose);
 
 #endif // MOVEIT_TUTORIALS_INTERACTIVITY_SRC_POSE_STRING_

doc/interactivity/src/attached_body_tutorial.cpp

@@ -126,10 +126,7 @@ void userCallback(InteractiveRobot& robot)
  color.b = 1.0;
  color.a = 0.5;
  visualization_msgs::MarkerArray markers;
- collision_detection::getCollisionMarkersFromContacts(markers,
- "panda_link0",
- c_res.contacts,
- color,
+ collision_detection::getCollisionMarkersFromContacts(markers, "panda_link0", c_res.contacts, color,
  ros::Duration(), // remain until deleted
  0.01); // radius
  publishMarkers(markers);

doc/interactivity/src/interactivity_tutorial.cpp

@@ -57,12 +57,12 @@ void help()
  ROS_INFO("#####################################################");
 }
 
-void userCallback(InteractiveRobot &robot)
+void userCallback(InteractiveRobot& robot)
 {
  ROS_INFO_STREAM("Robot position: " << PoseString(robot.robotState()->getGlobalLinkTransform("panda_link8")));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
  ros::init(argc, argv, "interactivity_tutorial");
  ros::NodeHandle nh;

doc/interactivity/src/pose_string.cpp

@@ -45,7 +45,7 @@
 #include <iomanip>
 
 /** return a string describing a pose (position and quaternion) */
-std::string PoseString(const geometry_msgs::Pose &pose)
+std::string PoseString(const geometry_msgs::Pose& pose)
 {
  std::stringstream ss;
  ss << "p(";
@@ -65,7 +65,7 @@ std::string PoseString(const geometry_msgs::Pose &pose)
 /** return a string describing a pose
  * Assumes the pose is a rotation and a translation
  */
-std::string PoseString(const Eigen::Affine3d &pose)
+std::string PoseString(const Eigen::Affine3d& pose)
 {
  geometry_msgs::Pose msg;
  tf::poseEigenToMsg(pose, msg);

doc/kinematic_model/src/kinematic_model_tutorial.cpp

@@ -41,7 +41,7 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
  ros::init(argc, argv, "kinematic_model_tutorial");
  ros::AsyncSpinner spinner(1);
@@ -65,7 +65,8 @@ int main(int argc, char **argv)
  // the robot description on the ROS parameter server and construct a
  // :moveit_core:`RobotModel` for us to use.
  //
- // .. _RobotModelLoader: http://docs.ros.org/kinetic/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html
+ // .. _RobotModelLoader:
+ // http://docs.ros.org/kinetic/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html
  robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
  robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
  ROS_INFO("Model frame: %s", kinematic_model->getModelFrame().c_str());
@@ -79,9 +80,9 @@ int main(int argc, char **argv)
  // robot.
  robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
  kinematic_state->setToDefaultValues();
- const robot_state::JointModelGroup *joint_model_group = kinematic_model->getJointModelGroup("panda_arm");
+ const robot_state::JointModelGroup* joint_model_group = kinematic_model->getJointModelGroup("panda_arm");
 
- const std::vector<std::string> &joint_names = joint_model_group->getVariableNames();
+ const std::vector<std::string>& joint_names = joint_model_group->getVariableNames();
 
  // Get Joint Values
  // ^^^^^^^^^^^^^^^^
@@ -114,7 +115,7 @@ int main(int argc, char **argv)
  // "panda_link8" which is the most distal link in the
  // "panda_arm" group of the robot.
  kinematic_state->setToRandomPositions(joint_model_group);
- const Eigen::Affine3d &end_effector_state = kinematic_state->getGlobalLinkTransform("panda_link8");
+ const Eigen::Affine3d& end_effector_state = kinematic_state->getGlobalLinkTransform("panda_link8");
 
  /* Print end-effector pose. Remember that this is in the model frame */
  ROS_INFO_STREAM("Translation: \n" << end_effector_state.translation() << "\n");

doc/kinematics/src/ros_api_tutorial.cpp

@@ -48,7 +48,7 @@
 // Kinematics
 #include <moveit_msgs/GetPositionIK.h>
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
  ros::init(argc, argv, "panda_arm_kinematics");
  ros::AsyncSpinner spinner(1);
@@ -91,7 +91,7 @@ int main(int argc, char **argv)
  robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
  robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
  robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
- const robot_state::JointModelGroup *joint_model_group = kinematic_model->getJointModelGroup("panda_arm");
+ const robot_state::JointModelGroup* joint_model_group = kinematic_model->getJointModelGroup("panda_arm");
 
  /* Get the names of the joints in the panda_arm*/
  service_request.ik_request.robot_state.joint_state.name = joint_model_group->getJointModelNames();

doc/motion_planning_api/src/motion_planning_api_tutorial.cpp

@@ -66,7 +66,8 @@ int main(int argc, char** argv)
  // parameter server and construct a :moveit_core:`RobotModel` for us
  // to use.
  //
- // .. _RobotModelLoader: http://docs.ros.org/indigo/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html
+ // .. _RobotModelLoader:
+ // http://docs.ros.org/indigo/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html
  robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
  robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
 
@@ -139,7 +140,8 @@ int main(int argc, char** argv)
  // `kinematic_constraints`_
  // package.
  //
- // .. _kinematic_constraints: http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+ // .. _kinematic_constraints:
+ // http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
  req.group_name = "panda_arm";
  moveit_msgs::Constraints pose_goal =
  kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
@@ -184,7 +186,7 @@ int main(int argc, char** argv)
 
  // Now, setup a joint space goal
  robot_state::RobotState goal_state(robot_model);
- std::vector<double> joint_values = {-1.0, 0.7, 0.7, -1.5, -0.7, 2.0, 0.0};
+ std::vector<double> joint_values = { -1.0, 0.7, 0.7, -1.5, -0.7, 2.0, 0.0 };
  goal_state.setJointGroupPositions(joint_model_group, joint_values);
  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
  req.goal_constraints.clear();

doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp

@@ -55,16 +55,14 @@ int main(int argc, char** argv)
  // BEGIN_TUTORIAL
  // Start
  // ^^^^^
- // Setting up to start using a planning pipeline is pretty easy.
- // Before we can load the planner, we need two objects, a RobotModel
- // and a PlanningScene.
- // We will start by instantiating a
- // `RobotModelLoader`_
- // object, which will look up
- // the robot description on the ROS parameter server and construct a
- // :moveit_core:`RobotModel` for us to use.
+ // Setting up to start using a planning pipeline is pretty easy. Before we can load the planner, we need two objects,
+ // a RobotModel and a PlanningScene.
  //
- // .. _RobotModelLoader: http://docs.ros.org/indigo/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html
+ // We will start by instantiating a `RobotModelLoader`_ object, which will look up the robot description on the ROS
+ // parameter server and construct a :moveit_core:`RobotModel` for us to use.
+ //
+ // .. _RobotModelLoader:
+ // http://docs.ros.org/indigo/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html
  robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
  robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
 
@@ -107,7 +105,8 @@ int main(int argc, char** argv)
  // `kinematic_constraints`_
  // package.
  //
- // .. _kinematic_constraints: http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+ // .. _kinematic_constraints:
+ // http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
  req.group_name = "panda_arm";
  moveit_msgs::Constraints pose_goal =
  kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
@@ -149,7 +148,7 @@ int main(int argc, char** argv)
 
  // Now, setup a joint space goal
  robot_state::RobotState goal_state(robot_model);
- std::vector<double> joint_values = {-1.0, 0.7, 0.7, -1.5, -0.7, 2.0, 0.0};
+ std::vector<double> joint_values = { -1.0, 0.7, 0.7, -1.5, -0.7, 2.0, 0.0 };
  goal_state.setJointGroupPositions(joint_model_group, joint_values);
  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
 

doc/move_group_interface/src/move_group_interface_tutorial.cpp

@@ -45,7 +45,7 @@
 
 #include <moveit_visual_tools/moveit_visual_tools.h>
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
  ros::init(argc, argv, "move_group_interface_tutorial");
  ros::NodeHandle node_handle;
@@ -71,8 +71,8 @@ int main(int argc, char **argv)
  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
 
  // Raw pointers are frequently used to refer to the planning group for improved performance.
- const robot_state::JointModelGroup *joint_model_group =
- move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
+ const robot_state::JointModelGroup* joint_model_group =
+  move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
 
  // Visualization
  // ^^^^^^^^^^^^^
@@ -301,7 +301,7 @@ int main(int argc, char **argv)
  primitive.dimensions[1] = 0.1;
  primitive.dimensions[2] = 0.4;
 
- //Define a pose for the box (specified relative to frame_id)
+ // Define a pose for the box (specified relative to frame_id)
  geometry_msgs::Pose box_pose;
  box_pose.orientation.w = 1.0;
  box_pose.position.x = 0.4;

doc/pick_place/src/pick_place_tutorial.cpp

@@ -43,7 +43,7 @@
 
 static const std::string ROBOT_DESCRIPTION = "robot_description";
 
-void openGripper(trajectory_msgs::JointTrajectory &posture)
+void openGripper(trajectory_msgs::JointTrajectory& posture)
 {
  posture.joint_names.resize(6);
  posture.joint_names[0] = "r_gripper_joint";
@@ -63,7 +63,7 @@ void openGripper(trajectory_msgs::JointTrajectory &posture)
  posture.points[0].positions[5] = 0.477;
 }
 
-void closedGripper(trajectory_msgs::JointTrajectory &posture)
+void closedGripper(trajectory_msgs::JointTrajectory& posture)
 {
  posture.joint_names.resize(6);
  posture.joint_names[0] = "r_gripper_joint";
@@ -83,7 +83,7 @@ void closedGripper(trajectory_msgs::JointTrajectory &posture)
  posture.points[0].positions[5] = 0.002;
 }
 
-void pick(moveit::planning_interface::MoveGroupInterface &group)
+void pick(moveit::planning_interface::MoveGroupInterface& group)
 {
  std::vector<moveit_msgs::Grasp> grasps;
 
@@ -118,7 +118,7 @@ void pick(moveit::planning_interface::MoveGroupInterface &group)
  group.pick("part", grasps);
 }
 
-void place(moveit::planning_interface::MoveGroupInterface &group)
+void place(moveit::planning_interface::MoveGroupInterface& group)
 {
  std::vector<moveit_msgs::PlaceLocation> loc;
 
@@ -151,7 +151,7 @@ void place(moveit::planning_interface::MoveGroupInterface &group)
  // add path constraints
  moveit_msgs::Constraints constr;
  constr.orientation_constraints.resize(1);
- moveit_msgs::OrientationConstraint &ocm = constr.orientation_constraints[0];
+ moveit_msgs::OrientationConstraint& ocm = constr.orientation_constraints[0];
  ocm.link_name = "r_wrist_roll_link";
  ocm.header.frame_id = p.header.frame_id;
  ocm.orientation.x = 0.0;
@@ -168,7 +168,7 @@ void place(moveit::planning_interface::MoveGroupInterface &group)
  group.place("part", loc);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
  ros::init(argc, argv, "panda_arm_pick_place");
  ros::AsyncSpinner spinner(1);

doc/planning/src/move_group_tutorial.cpp

@@ -47,7 +47,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/robot_state/conversions.h>
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
  ros::init(argc, argv, "move_group_tutorial");
  ros::AsyncSpinner spinner(1);