Merge pull request #95 from stack-of-tasks/pre-commit-ci-update-config

[pre-commit.ci] pre-commit autoupdate

Author: nim65s

.pre-commit-config.yaml

@@ -6,7 +6,7 @@ repos:
   hooks:
   - id: cmake-format
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v20.1.8
+  rev: v21.1.2
   hooks:
   - id: clang-format
     args:
@@ -29,7 +29,7 @@ repos:
   - id: fix-byte-order-marker
   - id: mixed-line-ending
   - id: trailing-whitespace
-- repo: https://github.com/psf/black
-  rev: 25.1.0
+- repo: https://github.com/psf/black-pre-commit-mirror
+  rev: 25.9.0
   hooks:
   - id: black

include/sot/torque_control/ddp-actuator-solver.hh

@@ -66,8 +66,8 @@ class SOTDDPACTUATORSOLVER_EXPORT DdpActuatorSolver
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /** Constructor */
-  DdpActuatorSolver(const std::string &name);
-  virtual void display(std::ostream &os) const;
+  DdpActuatorSolver(const std::string& name);
+  virtual void display(std::ostream& os) const;
 
  protected:
   /** Initialize the DDP.
@@ -76,8 +76,8 @@ class SOTDDPACTUATORSOLVER_EXPORT DdpActuatorSolver
    * @param nbItMax Maximum number of iterations.
    * @param stopCriteria The value of the stopping criteria.
    */
-  void param_init(const double &timestep, const int &T, const int &nbItMax,
-                  const double &stopCriteria);
+  void param_init(const double& timestep, const int& T, const int& nbItMax,
+                  const double& stopCriteria);
 };
 }  // namespace torque_control
 }  // namespace sot

src/ddp-actuator-solver.cpp

@@ -62,7 +62,7 @@ typedef DdpActuatorSolver EntityClassName;
 /* --- DG FACTORY ------------------------------------------------------- */
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(DdpActuatorSolver, "DdpActuatorSolver");
 
-DdpActuatorSolver::DdpActuatorSolver(const std::string &name)
+DdpActuatorSolver::DdpActuatorSolver(const std::string& name)
     : Entity(name),
       CONSTRUCT_SIGNAL_IN(pos_des, dynamicgraph::Vector),
       CONSTRUCT_SIGNAL_IN(pos_motor_measure, dynamicgraph::Vector),
@@ -96,17 +96,17 @@ DdpActuatorSolver::DdpActuatorSolver(const std::string &name)
 DEFINE_SIGNAL_OUT_FUNCTION(tau, dynamicgraph::Vector) {
   /// ---- Get the information -----
   /// Desired position
-  const dynamicgraph::Vector &pos_des = m_pos_desSIN(iter);
+  const dynamicgraph::Vector& pos_des = m_pos_desSIN(iter);
   /// Measured position
-  const dynamicgraph::Vector &pos_joint_measure = m_pos_joint_measureSIN(iter);
+  const dynamicgraph::Vector& pos_joint_measure = m_pos_joint_measureSIN(iter);
   /// Measured speed
-  const dynamicgraph::Vector &dx_measure = m_dx_measureSIN(iter);
+  const dynamicgraph::Vector& dx_measure = m_dx_measureSIN(iter);
   /// Measured temperature
-  const dynamicgraph::Vector &temp_measure = m_temp_measureSIN(iter);
+  const dynamicgraph::Vector& temp_measure = m_temp_measureSIN(iter);
   /// Measured torque
-  const dynamicgraph::Vector &tau_measure = m_tau_measureSIN(iter);
+  const dynamicgraph::Vector& tau_measure = m_tau_measureSIN(iter);
   /// Desired torque
-  const dynamicgraph::Vector &tau_des = m_tau_desSIN(iter);
+  const dynamicgraph::Vector& tau_des = m_tau_desSIN(iter);
 
   DDPSolver<double, 5, 1>::stateVec_t xinit, xDes;
 
@@ -150,9 +150,9 @@ DEFINE_SIGNAL_OUT_FUNCTION(tau, dynamicgraph::Vector) {
   return s;
 }
 
-void DdpActuatorSolver::param_init(const double &timestep, const int &T,
-                                   const int &nbItMax,
-                                   const double &stopCriteria) {
+void DdpActuatorSolver::param_init(const double& timestep, const int& T,
+                                   const int& nbItMax,
+                                   const double& stopCriteria) {
   m_T = T;
   m_dt = timestep;
   m_iterMax = nbItMax;
@@ -161,7 +161,7 @@ void DdpActuatorSolver::param_init(const double &timestep, const int &T,
                            m_stopCrit);
 }
 
-void DdpActuatorSolver::display(std::ostream &os) const {
+void DdpActuatorSolver::display(std::ostream& os) const {
   os << " T: " << m_T << " timestep: " << m_dt << " nbItMax: " << m_iterMax
      << " stopCriteria: " << m_stopCrit << std::endl;
 }

tests/test-control-manager.cpp

@@ -29,8 +29,8 @@ namespace dyn_sot_tc = dynamicgraph::sot::torque_control;
 BOOST_AUTO_TEST_CASE(testControlManager) {
   dgADD_OSTREAM_TO_RTLOG(std::cout);
 
-  dyn_sot_tc::ControlManager &a_control_manager =
-      *(dynamic_cast<dyn_sot_tc::ControlManager *>(
+  dyn_sot_tc::ControlManager& a_control_manager =
+      *(dynamic_cast<dyn_sot_tc::ControlManager*>(
           dynamicgraph::FactoryStorage::getInstance()->newEntity(
               "ControlManager", "a_control_manager")));
 

tests/test_controller_manager.cpp

@@ -14,7 +14,7 @@ using boost::test_tools::output_test_stream;
 namespace dyn_sot_tc = dynamicgraph::sot::torque_control;
 
 BOOST_AUTO_TEST_CASE(testControlManager) {
-  dyn_sot_tc::ControlManager &a_control_manager = *(dynamic_cast<dyn_sot_tc *>(
+  dyn_sot_tc::ControlManager& a_control_manager = *(dynamic_cast<dyn_sot_tc*>(
       dynamicgraph::FactoryStorage::getInstance()->newEntity(
           "ControlManager", "a_control_manager")));
 }