precommit

Author: ipuch

examples/CMakeLists.txt

@@ -97,8 +97,7 @@ if(BUILD_PYTHON_INTERFACE)
       inverse-dynamics-derivatives
       model-graph
       model-configuration-converter
-      ellipsoid-joint-kinematics
-      )
+      ellipsoid-joint-kinematics)
 
   if(BUILD_WITH_URDF_SUPPORT)
     list(

include/pinocchio/multibody/joint/joint-ellipsoid.hpp

@@ -112,7 +112,6 @@ namespace pinocchio
 
   }; // struct JointDataEllipsoidTpl
 
-
   PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelEllipsoidTpl);
   /// \brief Ellipsoid joint - constrains motion to ellipsoid surface with 3-DOF.
   ///
@@ -193,7 +192,13 @@ namespace pinocchio
     /// @param[in] c2, s2 Cosine and sine of q[2]
     /// @param[out] data Joint data where M will be stored
     void computeSpatialTransform(
-      const Scalar& c0, const Scalar& s0, const Scalar& c1, const Scalar& s1, const Scalar& c2, const Scalar& s2, JointDataDerived & data) const
+      const Scalar & c0,
+      const Scalar & s0,
+      const Scalar & c1,
+      const Scalar & s1,
+      const Scalar & c2,
+      const Scalar & s2,
+      JointDataDerived & data) const
     {
       // clang-format off
       data.M.rotation() << c1 * c2                , -c1 * s2                , s1      ,

include/pinocchio/multibody/joint/joint-free-flyer.hpp

@@ -256,7 +256,6 @@ namespace pinocchio
 
   }; // struct JointDataFreeFlyerTpl
 
-  
   PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelFreeFlyerTpl);
   /// @brief Free-flyer joint in \f$SE(3)\f$.
   ///

src/parsers/graph/model-graph-algo.cpp

@@ -266,7 +266,7 @@ namespace pinocchio
         , model(model_)
         {
         }
-        
+
         // Default implementation for adding a joint between two body frames
         template<typename JointGraph>
         void addJointBetweenBodies(const JointGraph & joint, const BodyFrame & b_f)
@@ -352,15 +352,15 @@ namespace pinocchio
           model.appendBodyToJoint(j_id, b_f.inertia); // check this
           model.addBodyFrame(target_vertex.name, j_id, body_pose);
         }
-        
+
         void operator()(const JointEllipsoid & joint, const BodyFrame & b_f)
         {
           if (!edge.forward)
             PINOCCHIO_THROW_PRETTY(
               std::invalid_argument, "Graph - JointEllipsoid cannot be reversed yet.");
-              // The ellipsoid joint cannot be reversed because of the way the motion subspace is defined.
-              // The motion subspace is defined in the parent frame, 
-              // So reversing the joint would require to change the motion subspace accordingly.
+          // The ellipsoid joint cannot be reversed because of the way the motion subspace is
+          // defined. The motion subspace is defined in the parent frame, So reversing the joint
+          // would require to change the motion subspace accordingly.
 
           addJointBetweenBodies(joint, b_f);
         }