Merge pull request #207 from humanoid-path-planner/pre-commit-ci-upda…

…te-config [pre-commit.ci] pre-commit autoupdate
humanoid-path-planner · Oct 7, 2024 · 7c54e99 · 7c54e99
2 parents a8725a2 + 32c34d6
commit 7c54e99
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Showing 3 changed files with 34 additions and 33 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -2,7 +2,7 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.5.5
+  rev: v0.6.9
   hooks:
   - id: ruff
     args:
@@ -19,13 +19,13 @@ repos:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v18.1.8
+  rev: v19.1.1
   hooks:
   - id: clang-format
     args:
     - --style=Google
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.6.0
+  rev: v5.0.0
   hooks:
   - id: check-added-large-files
   - id: check-ast

diff --git a/include/hpp/pinocchio/util.hh b/include/hpp/pinocchio/util.hh
@@ -126,32 +126,32 @@ std::ostream& operator<<(std::ostream& os, const PrettyPrint<T, Option> pp) {
 
 /// Generic implementation for Eigen objects
 template <typename Derived, int Option>
-struct HPP_PINOCCHIO_DLLAPI prettyPrintEigen {
-  static inline std::ostream& run(std::ostream& os, const Derived& M) {
-    enum {
-      Condensed = ((Option & OutputFormatBits) == OneLineOutput) ||
-                  ((Option & OutputFormatBits) == CondensedOutput)
-    };
-    static const Eigen::IOFormat mfmt_py =
-        eigen_format<Condensed, true, false>::run();
-    static const Eigen::IOFormat vfmt_py =
-        eigen_format<Condensed, true, true>::run();
-    static const Eigen::IOFormat mfmt_raw =
-        eigen_format<Condensed, false, false>::run();
-    static const Eigen::IOFormat vfmt_raw =
-        eigen_format<Condensed, false, true>::run();
-    bool use_py_fmt = (getpythonformat(os) != 0);
-    const Eigen::IOFormat& fmt =
-        (Derived::IsVectorAtCompileTime ? (use_py_fmt ? vfmt_py : vfmt_raw)
-                                        : (use_py_fmt ? mfmt_py : mfmt_raw));
-    bool transpose = (Derived::ColsAtCompileTime == 1);
-
-    if (transpose)
-      return os << M.transpose().format(fmt);
-    else
-      return os << M.format(fmt);
-  }
-};
+struct HPP_PINOCCHIO_DLLAPI prettyPrintEigen{
+    static inline std::ostream &
+    run(std::ostream & os, const Derived& M){
+        enum {Condensed = ((Option & OutputFormatBits) == OneLineOutput) ||
+                          ((Option & OutputFormatBits) == CondensedOutput)};
+static const Eigen::IOFormat mfmt_py =
+    eigen_format<Condensed, true, false>::run();
+static const Eigen::IOFormat vfmt_py =
+    eigen_format<Condensed, true, true>::run();
+static const Eigen::IOFormat mfmt_raw =
+    eigen_format<Condensed, false, false>::run();
+static const Eigen::IOFormat vfmt_raw =
+    eigen_format<Condensed, false, true>::run();
+bool use_py_fmt = (getpythonformat(os) != 0);
+const Eigen::IOFormat& fmt =
+    (Derived::IsVectorAtCompileTime ? (use_py_fmt ? vfmt_py : vfmt_raw)
+                                    : (use_py_fmt ? mfmt_py : mfmt_raw));
+bool transpose = (Derived::ColsAtCompileTime == 1);
+
+if (transpose)
+  return os << M.transpose().format(fmt);
+else
+  return os << M.format(fmt);
+}  // namespace hpp
+}
+;
 /// FIXME All eigen object must be manually specialized as follow...
 
 /// Pretty printer for Eigen::Matrix

diff --git a/src/joint.cc b/src/joint.cc
@@ -277,10 +277,11 @@ value_type computeMaximalDistanceToParent(
     const Model& model,
     const ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis>& jmodel,
     const SE3& jointPlacement) {
-  return computeMaximalDistanceToParentForAlignedTranslation<
-      Axis == 0, Axis == 1, Axis == 2>(
-      model.lowerPositionLimit.segment<1>(jmodel.idx_q()),
-      model.upperPositionLimit.segment<1>(jmodel.idx_q()), jointPlacement);
+  return computeMaximalDistanceToParentForAlignedTranslation < Axis == 0,
+         Axis == 1,
+         Axis == 2 > (model.lowerPositionLimit.segment<1>(jmodel.idx_q()),
+                      model.upperPositionLimit.segment<1>(jmodel.idx_q()),
+                      jointPlacement);
 }
 
 template <typename Scalar, int Options>