[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

Author: pre-commit-ci[bot]

include/dynamic_graph_bridge/ros.hpp

@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <memory>
-
 #include <boost/chrono.hpp>
+#include <memory>
 
 // ROS includes
 #include "dynamic_graph_bridge_msgs/srv/run_python_command.hpp"

scripts/remote_python_client.py

@@ -24,10 +24,10 @@
 from pathlib import Path
 
 import rclpy
-from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
 
 # Used to connect to ROS services
 from dynamic_graph_bridge.ros.dgcompleter import DGCompleter
+from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
 
 
 def signal_handler(sig, frame):

src/dg_ros_mapping.cpp

@@ -67,11 +67,10 @@ DG_TO_ROS_IMPL(DgRosMappingMatrix) {
   // of the copy here.
   ros_dst.width = static_cast<unsigned int>(dg_src.rows());
   ros_dst.data.resize(static_cast<std::size_t>(dg_src.size()));
-  for (int row = 0 ; row < dg_src.rows(); ++row) {
+  for (int row = 0; row < dg_src.rows(); ++row) {
     for (int col = 0; col < dg_src.cols(); ++col) {
       ros_dst.data[static_cast<unsigned int>(row) * ros_dst.width +
-                   static_cast<unsigned int>(col)] =
-          dg_src(row, col);
+                   static_cast<unsigned int>(col)] = dg_src(row, col);
     }
   }
 }
@@ -84,7 +83,8 @@ ROS_TO_DG_IMPL(DgRosMappingMatrix) {
   for (int row = 0; row < dg_dst.rows(); ++row) {
     for (int col = 0; col < dg_dst.cols(); ++col) {
       dg_dst(row, col) =
-          ros_src.data[static_cast<std::vector<double>::size_type>(row * rows + col)];
+          ros_src.data[static_cast<std::vector<double>::size_type>(row * rows +
+                                                                   col)];
     }
   }
 }

src/dg_ros_mapping.hpp

@@ -11,12 +11,11 @@
 #include "fwd.hpp"
 
 // Standard includes
+#include <boost/chrono.hpp>
 #include <sstream>
 #include <utility>
 #include <vector>
 
-#include <boost/chrono.hpp>
-
 // Dynamic Graph types.
 #include <dynamic-graph/linear-algebra.h>
 #include <dynamic-graph/signal-ptr.h>
@@ -111,7 +110,8 @@ class DgRosMapping {
   /** @brief Output signal type. */
   typedef dg::SignalTimeDependent<dg_t, dg::sigtime_t> signal_out_t;
   /** @brief Output signal type. */
-  typedef dg::SignalTimeDependent<dynamic_graph_bridge::timestamp_t, dg::sigtime_t>
+  typedef dg::SignalTimeDependent<dynamic_graph_bridge::timestamp_t,
+                                  dg::sigtime_t>
       signal_timestamp_out_t;
   /** @brief Input signal type. */
   typedef dg::SignalPtr<dg_t, dg::sigtime_t> signal_in_t;
@@ -138,9 +138,7 @@ class DgRosMapping {
    *
    * @param s
    */
-  static void set_default(dg_t& d) {
-    d = default_value;
-  }
+  static void set_default(dg_t& d) { d = default_value; }
 
   /**
    * @brief Convert ROS time to boost::chrono.

src/fwd.hpp

@@ -10,18 +10,19 @@
 
 #pragma once
 
+#include <boost/chrono.hpp>
 #include <chrono>
-#include <ostream>
 #include <iostream>
-#include <boost/chrono.hpp>
+#include <ostream>
 
 namespace dynamic_graph_bridge {
 /** @brief Time stamp type. */
-typedef boost::chrono::time_point<boost::chrono::high_resolution_clock> timestamp_t;
+typedef boost::chrono::time_point<boost::chrono::high_resolution_clock>
+    timestamp_t;
 
 }  // namespace dynamic_graph_bridge
 
-//namespace dynamicgraph {
+// namespace dynamicgraph {
 /**
  * @brief out stream the time stamp data.
  *
@@ -32,16 +33,15 @@ typedef boost::chrono::time_point<boost::chrono::high_resolution_clock> timestam
  * For clang this function needs to be forward declared before the template
  * using it. This is more in accordance to the standard.
  */
-std::ostream &operator<<(
-    std::ostream &os,
-    const dynamic_graph_bridge::timestamp_t &time_stamp) {
+std::ostream &operator<<(std::ostream &os,
+                         const dynamic_graph_bridge::timestamp_t &time_stamp) {
   boost::chrono::time_point<boost::chrono::high_resolution_clock,
-                          boost::chrono::milliseconds>
+                            boost::chrono::milliseconds>
       time_stamp_nanosec =
-      boost::chrono::time_point_cast<boost::chrono::milliseconds>(time_stamp);
+          boost::chrono::time_point_cast<boost::chrono::milliseconds>(
+              time_stamp);
   os << time_stamp_nanosec.time_since_epoch().count();
   return os;
 }
 
-
 //}  // namespace dynamicgraph

src/ros_python_interpreter_client.cpp

@@ -71,7 +71,8 @@ std::string RosPythonInterpreterClient::run_python_command(
       return_string += response.get()->result;
     }
   } catch (const std::exception& ex) {
-    RCLCPP_INFO(rclcpp::get_logger("RosPythonInterpreterClient"), "%s", ex.what());
+    RCLCPP_INFO(rclcpp::get_logger("RosPythonInterpreterClient"), "%s",
+                ex.what());
     connect_to_rosservice_run_python_command(timeout_connection_s_);
   } catch (...) {
     RCLCPP_INFO(rclcpp::get_logger("RosPythonInterpreterClient"),

src/ros_subscribe.cpp

@@ -6,12 +6,11 @@
  * Gesellschaft.
  * @date 2019-05-22
  */
-#include "fwd.hpp"
-
 #include "ros_subscribe.hpp"
 
 #include <dynamic-graph/factory.h>
 
+#include "fwd.hpp"
 
 namespace dynamic_graph_bridge {
 /*

src/ros_subscribe.hpp

@@ -127,7 +127,6 @@ class RosSubscribe : public dynamicgraph::Entity {
   std::map<std::string, BindedSignal> binded_signals_;
 };
 
-
 namespace command {
 namespace ros_subscribe {
 using ::dynamicgraph::command::Command;

src/sot_loader.cpp

@@ -137,7 +137,7 @@ void SotLoader::readControl(map<string, dgs::ControlValues> &controlValues) {
   sotDEBUG(30) << "End ControlValues" << std::endl;
 #endif
   std::size_t nbOfJoints_std_s = static_cast<std::size_t>(nbOfJoints_);
-  
+
   // Check if the size if coherent with the robot description.
   if (control_.size() != (unsigned int)nbOfJoints_) {
     nbOfJoints_ = static_cast<int>(control_.size());
@@ -151,7 +151,7 @@ void SotLoader::readControl(map<string, dgs::ControlValues> &controlValues) {
 
   if (joint_state_.position.size() !=
       static_cast<std::size_t>(nbOfJoints_) +
-      parallel_joints_to_state_vector_.size()) {
+          parallel_joints_to_state_vector_.size()) {
     joint_state_.position.resize(nbOfJoints_std_s +
                                  parallel_joints_to_state_vector_.size());
     joint_state_.velocity.resize(nbOfJoints_std_s +
@@ -170,7 +170,8 @@ void SotLoader::readControl(map<string, dgs::ControlValues> &controlValues) {
   for (unsigned int i = 0; i < parallel_joints_to_state_vector_.size(); i++) {
     joint_state_.position[i + nbOfJoints_std_s] =
         coefficient_parallel_joints_[i] *
-        angleEncoder_[static_cast<std::size_t>(parallel_joints_to_state_vector_[i])];
+        angleEncoder_[static_cast<std::size_t>(
+            parallel_joints_to_state_vector_[i])];
   }
 
   joint_pub_->publish(joint_state_);
@@ -230,8 +231,7 @@ void SotLoader::workThreadLoader() {
 
   /// Declare parameters
   if (not has_parameter("dt")) declare_parameter<double>("dt", 0.01);
-  if (not has_parameter("paused"))
-    declare_parameter<bool>("paused", false);
+  if (not has_parameter("paused")) declare_parameter<bool>("paused", false);
 
   //
   get_parameter_or("dt", periodd, 0.001);

tests/impl_test_sot_mock_device.cpp

@@ -117,8 +117,8 @@ void ImplTestSotMockDevice::setSensorsForce(
       sotDEBUG(15) << "Force sensor " << i << std::endl;
       int idx_sensor = map_sot_2_urdf[i];
       for (std::vector<double>::size_type j = 0; j < 6; ++j) {
-        dgforces_(static_cast<Eigen::Index>(j)) =
-            forcesIn[static_cast<std::vector<double>::size_type>(idx_sensor * 6) + j];
+        dgforces_(static_cast<Eigen::Index>(j)) = forcesIn
+            [static_cast<std::vector<double>::size_type>(idx_sensor * 6) + j];
         sotDEBUG(15) << "Force value " << j << ":"
                      << dgforces_(static_cast<Eigen::Index>(j)) << std::endl;
       }
@@ -202,7 +202,8 @@ void ImplTestSotMockDevice::setSensorsVelocities(
     const vector<double>& velocitiesIn = it->second.getValues();
     dgRobotVelocity_.resize(static_cast<Eigen::Index>(velocitiesIn.size()) + 6);
     for (unsigned i = 0; i < 6; ++i) dgRobotVelocity_(i) = 0.;
-    for (unsigned i = 0; i < static_cast<Eigen::Index>(velocitiesIn.size()); ++i) {
+    for (unsigned i = 0; i < static_cast<Eigen::Index>(velocitiesIn.size());
+         ++i) {
       dgRobotVelocity_(i + 6) = velocitiesIn[i];
     }
     robotVelocity_.setConstant(dgRobotVelocity_);
@@ -298,7 +299,8 @@ void ImplTestSotMockDevice::getControl(
   sotDEBUGIN(25);
   vector<double> anglesOut, velocityOut;
   anglesOut.resize(static_cast<std::vector<double>::size_type>(state_.size()));
-  velocityOut.resize(static_cast<std::vector<double>::size_type>(state_.size()));
+  velocityOut.resize(
+      static_cast<std::vector<double>::size_type>(state_.size()));
 
   // Integrate control
   sotDEBUG(25) << "state = " << state_ << std::endl;
@@ -317,8 +319,10 @@ void ImplTestSotMockDevice::getControl(
   // warning: we make here the asumption that the control signal contains the
   // velocity of the freeflyer joint. This may change in the future.
   if ((int)anglesOut.size() != state_.size() - 6) {
-    anglesOut.resize(static_cast<std::vector<double>::size_type>(state_.size() - 6));
-    velocityOut.resize(static_cast<std::vector<double>::size_type>(state_.size() - 6));
+    anglesOut.resize(
+        static_cast<std::vector<double>::size_type>(state_.size() - 6));
+    velocityOut.resize(
+        static_cast<std::vector<double>::size_type>(state_.size() - 6));
   }
 
   dg::sigtime_t time = controlSIN.getTime();