[format] Format code with clang-format-18

dart/collision/CollisionDetector.hpp

@@ -85,7 +85,8 @@ class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
   /// \brief Create a clone of this CollisionDetector. All the properties will
   /// be copied over, but not collision objects.
   virtual std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
-      const = 0;
+      const
+      = 0;
 
   /// Return collision detection engine type as a std::string
   virtual const std::string& getType() const = 0;

dart/collision/CollisionFilter.hpp

@@ -65,7 +65,8 @@ class CollisionFilter
   /// Returns true if the given two CollisionObjects should be checked by the
   /// collision detector, false otherwise.
   virtual bool ignoresCollision(
-      const CollisionObject* object1, const CollisionObject* object2) const = 0;
+      const CollisionObject* object1, const CollisionObject* object2) const
+      = 0;
 };
 
 class CompositeCollisionFilter : public CollisionFilter

dart/collision/DistanceFilter.hpp

@@ -46,7 +46,8 @@ class CollisionObject;
 struct DistanceFilter
 {
   virtual bool needDistance(
-      const CollisionObject* object1, const CollisionObject* object2) const = 0;
+      const CollisionObject* object1, const CollisionObject* object2) const
+      = 0;
 };
 
 struct BodyNodeDistanceFilter : DistanceFilter

dart/common/Aspect.hpp

@@ -163,11 +163,11 @@ class CompositeTrackingAspect : public Aspect
   ClassName(const ClassName&) = delete;                                        \
   inline ClassName(const PropertiesData& properties = PropertiesData())        \
     : AspectWithVersionedProperties<                                           \
-        Base,                                                                  \
-        Derived,                                                               \
-        PropertiesData,                                                        \
-        CompositeType,                                                         \
-        UpdatePropertiesMacro>(properties)                                     \
+          Base,                                                                \
+          Derived,                                                             \
+          PropertiesData,                                                      \
+          CompositeType,                                                       \
+          UpdatePropertiesMacro>(properties)                                   \
   {                                                                            \
   }
 

dart/common/detail/Aspect.hpp

@@ -46,7 +46,7 @@ namespace common {
 template <class CompositeType>
 CompositeTrackingAspect<CompositeType>::CompositeTrackingAspect()
   : mComposite(
-      nullptr) // This will be set later when the Composite calls setComposite
+        nullptr) // This will be set later when the Composite calls setComposite
 {
   // Do nothing
 }

dart/common/detail/CompositeData.hpp

@@ -259,9 +259,9 @@ struct ComposeData<CompositeType, GetData, AspectT, Remainder...>
   template <typename Arg1, typename... Args>
   ComposeData(const Arg1& arg1, const Args&... args)
     : ComposeData(
-        Delegate,
-        static_cast<const typename ConvertIfData<Arg1>::Type&>(arg1),
-        args...)
+          Delegate,
+          static_cast<const typename ConvertIfData<Arg1>::Type&>(arg1),
+          args...)
   {
     // This constructor delegates
   }

dart/common/detail/CompositeJoiner.hpp

@@ -117,7 +117,7 @@ template <class Base1, class Base2, class... OtherBases>
 template <typename... Args>
 CompositeJoiner<Base1, Base2, OtherBases...>::CompositeJoiner(Args&&... args)
   : CompositeJoiner<Base1, CompositeJoiner<Base2, OtherBases...>>(
-      std::forward<Args>(args)...)
+        std::forward<Args>(args)...)
 {
   // Do nothing
 }

dart/common/detail/EmbeddedAspect.hpp

@@ -132,9 +132,9 @@ class EmbeddedStateAspect : public BaseT
   template <typename T, typename... RemainingArgs>
   EmbeddedStateAspect(const T& arg1, RemainingArgs&&... remainingArgs)
     : EmbeddedStateAspect(
-        Delegate,
-        static_cast<const typename ConvertIfState<T>::type&>(arg1),
-        std::forward<RemainingArgs>(remainingArgs)...)
+          Delegate,
+          static_cast<const typename ConvertIfState<T>::type&>(arg1),
+          std::forward<RemainingArgs>(remainingArgs)...)
   {
     // Do nothing
   }
@@ -302,9 +302,9 @@ class EmbeddedPropertiesAspect : public BaseT
   template <typename T, typename... RemainingArgs>
   EmbeddedPropertiesAspect(const T& arg1, RemainingArgs&&... remainingArgs)
     : EmbeddedPropertiesAspect(
-        Delegate,
-        static_cast<const typename ConvertIfProperties<T>::type&>(arg1),
-        std::forward<RemainingArgs>(remainingArgs)...)
+          Delegate,
+          static_cast<const typename ConvertIfProperties<T>::type&>(arg1),
+          std::forward<RemainingArgs>(remainingArgs)...)
   {
     // Do nothing
   }

dart/constraint/BoxedLcpConstraintSolver.cpp

@@ -55,7 +55,7 @@ BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(
     BoxedLcpSolverPtr boxedLcpSolver,
     BoxedLcpSolverPtr secondaryBoxedLcpSolver)
   : BoxedLcpConstraintSolver(
-      std::move(boxedLcpSolver), std::move(secondaryBoxedLcpSolver))
+        std::move(boxedLcpSolver), std::move(secondaryBoxedLcpSolver))
 {
   setTimeStep(timeStep);
 }
@@ -71,7 +71,7 @@ BoxedLcpConstraintSolver::BoxedLcpConstraintSolver()
 BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(
     BoxedLcpSolverPtr boxedLcpSolver)
   : BoxedLcpConstraintSolver(
-      std::move(boxedLcpSolver), std::make_shared<PgsBoxedLcpSolver>())
+        std::move(boxedLcpSolver), std::make_shared<PgsBoxedLcpSolver>())
 {
   // Do nothing
 }

dart/constraint/ContactConstraint.cpp

@@ -60,9 +60,9 @@ double ContactConstraint::mConstraintForceMixing = DART_CFM;
 ContactConstraint::ContactConstraint(
     collision::Contact& contact, double timeStep)
   : ContactConstraint(
-      contact,
-      timeStep,
-      DefaultContactSurfaceHandler().createParams(contact, 1u))
+        contact,
+        timeStep,
+        DefaultContactSurfaceHandler().createParams(contact, 1u))
 {
   // Do nothing
 }

dart/dynamics/ArrowShape.cpp

@@ -128,7 +128,7 @@ static void constructArrowTip(
   std::size_t resolution = (mesh->mNumVertices - 1) / 2;
   for (std::size_t i = 0; i < resolution; ++i) {
     double theta
-        = (double)(i) / (double)(resolution)*2 * math::constantsd::pi();
+        = (double)(i) / (double)(resolution) * 2 * math::constantsd::pi();
 
     double R = properties.mRadius;
     double x = R * cos(theta);
@@ -157,7 +157,7 @@ static void constructArrowBody(
   std::size_t resolution = mesh->mNumVertices / 2;
   for (std::size_t i = 0; i < resolution; ++i) {
     double theta
-        = (double)(i) / (double)(resolution)*2 * math::constantsd::pi();
+        = (double)(i) / (double)(resolution) * 2 * math::constantsd::pi();
 
     double R = properties.mRadius;
     double x = R * cos(theta);
@@ -314,15 +314,15 @@ void ArrowShape::instantiate(std::size_t resolution)
     mesh->mNormals[2 * i].Set(0.0f, 0.0f, 1.0f);
 
     double theta
-        = (double)(i) / (double)(resolution)*2 * math::constantsd::pi();
+        = (double)(i) / (double)(resolution) * 2 * math::constantsd::pi();
     mesh->mNormals[2 * i + 1].Set(cos(theta), sin(theta), 0.0f);
   }
   mesh->mNormals[mesh->mNumVertices - 1].Set(0.0f, 0.0f, -1.0f);
 
   mesh = scene->mMeshes[1];
   for (std::size_t i = 0; i < resolution; ++i) {
     double theta
-        = (double)(i) / (double)(resolution)*2 * math::constantsd::pi();
+        = (double)(i) / (double)(resolution) * 2 * math::constantsd::pi();
     mesh->mNormals[2 * i].Set(cos(theta), sin(theta), 0.0f);
     mesh->mNormals[2 * i + 1].Set(cos(theta), sin(theta), 0.0f);
   }
@@ -332,7 +332,7 @@ void ArrowShape::instantiate(std::size_t resolution)
     mesh->mNormals[2 * i].Set(0.0f, 0.0f, -1.0f);
 
     double theta
-        = (double)(i) / (double)(resolution)*2 * math::constantsd::pi();
+        = (double)(i) / (double)(resolution) * 2 * math::constantsd::pi();
     mesh->mNormals[2 * i + 1].Set(cos(theta), sin(theta), 0.0f);
   }
   mesh->mNormals[mesh->mNumVertices - 1].Set(0.0f, 0.0f, 1.0f);

dart/dynamics/CompositeNode.hpp

@@ -100,7 +100,7 @@ class CompositeNode : public CompositePropertiesNode<CompositeStateNode<Base>>
   template <typename... Args>
   CompositeNode(Args&&... args)
     : CompositePropertiesNode<CompositeStateNode<Base>>(
-        std::forward<Args>(args)...)
+          std::forward<Args>(args)...)
   {
     // Do nothing
   }

dart/dynamics/GenericJoint.hpp

@@ -506,7 +506,8 @@ class GenericJoint
 
   /// Fixed-size version of getRelativeJacobian(positions)
   virtual JacobianMatrix getRelativeJacobianStatic(
-      const Vector& positions) const = 0;
+      const Vector& positions) const
+      = 0;
 
   // Documentation inherited
   const math::Jacobian getRelativeJacobianTimeDeriv() const override;

dart/dynamics/HierarchicalIK.hpp

@@ -123,7 +123,8 @@ class HierarchicalIK : public common::Subject
 
   /// Clone this HierarchicalIK module
   virtual std::shared_ptr<HierarchicalIK> clone(
-      const SkeletonPtr& _newSkel) const = 0;
+      const SkeletonPtr& _newSkel) const
+      = 0;
 
   /// This class should be inherited by optimizer::Function classes that have a
   /// dependency on the HierarchicalIK module that they belong to. If you
@@ -137,7 +138,8 @@ class HierarchicalIK : public common::Subject
   public:
     /// Enable this function to be cloned to a new IK module.
     virtual optimizer::FunctionPtr clone(
-        const std::shared_ptr<HierarchicalIK>& _newIK) const = 0;
+        const std::shared_ptr<HierarchicalIK>& _newIK) const
+        = 0;
 
     /// Virtual destructor
     virtual ~Function() = default;

dart/dynamics/InverseKinematics.hpp

@@ -607,8 +607,8 @@ class InverseKinematics::ErrorMethod : public common::Subject
   virtual ~ErrorMethod() = default;
 
   /// Enable this ErrorMethod to be cloned to a new IK module.
-  virtual std::unique_ptr<ErrorMethod> clone(
-      InverseKinematics* _newIK) const = 0;
+  virtual std::unique_ptr<ErrorMethod> clone(InverseKinematics* _newIK) const
+      = 0;
 
   /// Override this function with your implementation of the error vector
   /// computation. The expectation is that the first three components of the
@@ -848,8 +848,8 @@ class InverseKinematics::GradientMethod : public common::Subject
   virtual ~GradientMethod() = default;
 
   /// Enable this GradientMethod to be cloned to a new IK module
-  virtual std::unique_ptr<GradientMethod> clone(
-      InverseKinematics* _newIK) const = 0;
+  virtual std::unique_ptr<GradientMethod> clone(InverseKinematics* _newIK) const
+      = 0;
 
   /// Override this function with your implementation of the gradient
   /// computation. The direction that this gradient points in should make the

dart/dynamics/JacobianNode.hpp

@@ -94,12 +94,12 @@ class JacobianNode : public virtual Frame, public Node
 
   /// Return a generalized coordinate index from the array index
   /// (< getNumDependentDofs)
-  virtual std::size_t getDependentGenCoordIndex(
-      std::size_t _arrayIndex) const = 0;
+  virtual std::size_t getDependentGenCoordIndex(std::size_t _arrayIndex) const
+      = 0;
 
   /// Indices of the generalized coordinates which affect this JacobianNode
-  virtual const std::vector<std::size_t>& getDependentGenCoordIndices()
-      const = 0;
+  virtual const std::vector<std::size_t>& getDependentGenCoordIndices() const
+      = 0;
 
   /// Same as getNumDependentGenCoords()
   virtual std::size_t getNumDependentDofs() const = 0;
@@ -114,8 +114,8 @@ class JacobianNode : public virtual Frame, public Node
   virtual const std::vector<DegreeOfFreedom*>& getDependentDofs() = 0;
 
   /// Return a std::vector of DegreeOfFreedom pointers that this Node depends on
-  virtual const std::vector<const DegreeOfFreedom*>& getDependentDofs()
-      const = 0;
+  virtual const std::vector<const DegreeOfFreedom*>& getDependentDofs() const
+      = 0;
 
   /// Returns a DegreeOfFreedom vector containing the dofs that form a Chain
   /// leading up to this JacobianNode from the root of the Skeleton.
@@ -142,7 +142,8 @@ class JacobianNode : public virtual Frame, public Node
   /// A version of getJacobian(const Eigen::Vector3d&) that lets you specify a
   /// coordinate Frame to express the Jacobian in.
   virtual math::Jacobian getJacobian(
-      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const = 0;
+      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const
+      = 0;
 
   /// Return the generalized Jacobian targeting the origin of this JacobianNode.
   /// The Jacobian is expressed in the World Frame.
@@ -151,24 +152,27 @@ class JacobianNode : public virtual Frame, public Node
   /// Return the generalized Jacobian targeting an offset in this JacobianNode.
   /// The _offset is expected in coordinates of this BodyNode Frame. The
   /// Jacobian is expressed in the World Frame.
-  virtual math::Jacobian getWorldJacobian(
-      const Eigen::Vector3d& _offset) const = 0;
+  virtual math::Jacobian getWorldJacobian(const Eigen::Vector3d& _offset) const
+      = 0;
 
   /// Return the linear Jacobian targeting the origin of this BodyNode. You can
   /// specify a coordinate Frame to express the Jacobian in.
   virtual math::LinearJacobian getLinearJacobian(
-      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
+      const Frame* _inCoordinatesOf = Frame::World()) const
+      = 0;
 
   /// Return the generalized Jacobian targeting an offset within the Frame of
   /// this BodyNode.
   virtual math::LinearJacobian getLinearJacobian(
       const Eigen::Vector3d& _offset,
-      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
+      const Frame* _inCoordinatesOf = Frame::World()) const
+      = 0;
 
   /// Return the angular Jacobian targeting the origin of this BodyNode. You can
   /// specify a coordinate Frame to express the Jacobian in.
   virtual math::AngularJacobian getAngularJacobian(
-      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
+      const Frame* _inCoordinatesOf = Frame::World()) const
+      = 0;
 
   /// Return the spatial time derivative of the generalized Jacobian targeting
   /// the origin of this BodyNode. The Jacobian is expressed in this BodyNode's
@@ -188,7 +192,8 @@ class JacobianNode : public virtual Frame, public Node
   /// getJacobianClassicDeriv(), getLinearJacobianDeriv(), or
   /// getAngularJacobianDeriv() instead.
   virtual math::Jacobian getJacobianSpatialDeriv(
-      const Frame* _inCoordinatesOf) const = 0;
+      const Frame* _inCoordinatesOf) const
+      = 0;
 
   /// Return the spatial time derivative of the generalized Jacobian targeting
   /// an offset in the Frame of this BodyNode. The Jacobian is expressed in
@@ -201,12 +206,14 @@ class JacobianNode : public virtual Frame, public Node
   ///
   /// \sa getJacobianSpatialDeriv()
   virtual math::Jacobian getJacobianSpatialDeriv(
-      const Eigen::Vector3d& _offset) const = 0;
+      const Eigen::Vector3d& _offset) const
+      = 0;
 
   /// A version of getJacobianSpatialDeriv(const Eigen::Vector3d&) that allows
   /// an arbitrary coordinate Frame to be specified.
   virtual math::Jacobian getJacobianSpatialDeriv(
-      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const = 0;
+      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const
+      = 0;
 
   /// Return the classical time derivative of the generalized Jacobian targeting
   /// the origin of this BodyNode. The Jacobian is expressed in the World
@@ -224,7 +231,8 @@ class JacobianNode : public virtual Frame, public Node
   /// classical linear and angular vectors. If you are using spatial vectors,
   /// use getJacobianSpatialDeriv() instead.
   virtual math::Jacobian getJacobianClassicDeriv(
-      const Frame* _inCoordinatesOf) const = 0;
+      const Frame* _inCoordinatesOf) const
+      = 0;
 
   /// A version of getJacobianClassicDeriv() that can compute the Jacobian for
   /// an offset within the Frame of this BodyNode. The offset must be expressed
@@ -235,7 +243,8 @@ class JacobianNode : public virtual Frame, public Node
   /// use getJacobianSpatialDeriv() instead.
   virtual math::Jacobian getJacobianClassicDeriv(
       const Eigen::Vector3d& _offset,
-      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
+      const Frame* _inCoordinatesOf = Frame::World()) const
+      = 0;
 
   /// Return the linear Jacobian (classical) time derivative, in terms of any
   /// coordinate Frame.
@@ -244,7 +253,8 @@ class JacobianNode : public virtual Frame, public Node
   /// classical linear vectors. If you are using spatial vectors, use
   /// getJacobianSpatialDeriv() instead.
   virtual math::LinearJacobian getLinearJacobianDeriv(
-      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
+      const Frame* _inCoordinatesOf = Frame::World()) const
+      = 0;
 
   /// A version of getLinearJacobianDeriv() that can compute the Jacobian for
   /// an offset within the Frame of this BodyNode. The offset must be expressed
@@ -255,12 +265,14 @@ class JacobianNode : public virtual Frame, public Node
   /// getJacobianSpatialDeriv() instead.
   virtual math::LinearJacobian getLinearJacobianDeriv(
       const Eigen::Vector3d& _offset,
-      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
+      const Frame* _inCoordinatesOf = Frame::World()) const
+      = 0;
 
   /// Return the angular Jacobian time derivative, in terms of any coordinate
   /// Frame.
   virtual math::AngularJacobian getAngularJacobianDeriv(
-      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
+      const Frame* _inCoordinatesOf = Frame::World()) const
+      = 0;
 
   /// \}