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

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MeMory-of-MOtion · Apr 15, 2024 · 31b90d3 · 31b90d3
1 parent aa35073
commit 31b90d3
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Showing 14 changed files with 137 additions and 142 deletions.
diff --git a/examples/walk_without_think/walk_ocp.py b/examples/walk_without_think/walk_ocp.py
@@ -81,9 +81,11 @@
 q0 = robot.x0[: robot.model.nq]
 print(
     "Start from q0=",
-    "half_sitting"
-    if norm(q0 - robot.model.referenceConfigurations["half_sitting"]) < 1e-9
-    else q0,
+    (
+        "half_sitting"
+        if norm(q0 - robot.model.referenceConfigurations["half_sitting"]) < 1e-9
+        else q0
+    ),
 )
 
 # #####################################################################################

diff --git a/include/sobec/crocomplements/activation-quad-ref.hpp b/include/sobec/crocomplements/activation-quad-ref.hpp
@@ -38,19 +38,19 @@ class ActivationModelQuadRefTpl : public ActivationModelAbstractTpl<_Scalar> {
   virtual void calc(const boost::shared_ptr<ActivationDataAbstract>& data,
                     const Eigen::Ref<const VectorXs>& r) {
     if (static_cast<std::size_t>(r.size()) != nr_) {
-      throw_pretty("Invalid argument: "
-                   << "r has wrong dimension (it should be " +
-                          std::to_string(nr_) + ")");
+      throw_pretty(
+          "Invalid argument: " << "r has wrong dimension (it should be " +
+                                      std::to_string(nr_) + ")");
     }
     data->a_value = (Scalar(0.5) * (r - ref).transpose() * (r - ref))[0];
   };
 
   virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract>& data,
                         const Eigen::Ref<const VectorXs>& r) {
     if (static_cast<std::size_t>(r.size()) != nr_) {
-      throw_pretty("Invalid argument: "
-                   << "r has wrong dimension (it should be " +
-                          std::to_string(nr_) + ")");
+      throw_pretty(
+          "Invalid argument: " << "r has wrong dimension (it should be " +
+                                      std::to_string(nr_) + ")");
     }
 
     data->Ar = r - ref;

diff --git a/include/sobec/crocomplements/activation-weighted-log.hpp b/include/sobec/crocomplements/activation-weighted-log.hpp
@@ -37,18 +37,17 @@ class ActivationModelWeightedLogTpl
                                          const Scalar &alpha = Scalar(1.))
       : Base(weights.size()), weights_(weights), alpha_(alpha) {
     if (alpha < Scalar(0.)) {
-      throw_pretty("Invalid argument: "
-                   << "alpha should be a positive value");
+      throw_pretty("Invalid argument: " << "alpha should be a positive value");
     }
   };
   virtual ~ActivationModelWeightedLogTpl(){};
 
   virtual void calc(const boost::shared_ptr<ActivationDataAbstract> &data,
                     const Eigen::Ref<const VectorXs> &r) {
     if (static_cast<std::size_t>(r.size()) != nr_) {
-      throw_pretty("Invalid argument: "
-                   << "r has wrong dimension (it should be " +
-                          std::to_string(nr_) + ")");
+      throw_pretty(
+          "Invalid argument: " << "r has wrong dimension (it should be " +
+                                      std::to_string(nr_) + ")");
     }
     boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data);
     d->Wr = weights_.cwiseProduct(r);
@@ -59,9 +58,9 @@ class ActivationModelWeightedLogTpl
   virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract> &data,
                         const Eigen::Ref<const VectorXs> &r) {
     if (static_cast<std::size_t>(r.size()) != nr_) {
-      throw_pretty("Invalid argument: "
-                   << "r has wrong dimension (it should be " +
-                          std::to_string(nr_) + ")");
+      throw_pretty(
+          "Invalid argument: " << "r has wrong dimension (it should be " +
+                                      std::to_string(nr_) + ")");
     }
     boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data);
 

diff --git a/include/sobec/crocomplements/contact/contact-fwddyn.hxx b/include/sobec/crocomplements/contact/contact-fwddyn.hxx
@@ -49,9 +49,9 @@ void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::calcDiff(
                         std::to_string(this->get_state()->get_nx()) + ")");
   }
   if (static_cast<std::size_t>(u.size()) != this->get_nu()) {
-    throw_pretty("Invalid argument: "
-                 << "u has wrong dimension (it should be " +
-                        std::to_string(this->get_nu()) + ")");
+    throw_pretty(
+        "Invalid argument: " << "u has wrong dimension (it should be " +
+                                    std::to_string(this->get_nu()) + ")");
   }
 
   const std::size_t nv = this->get_state()->get_nv();

diff --git a/include/sobec/crocomplements/contact/contact1d.hxx b/include/sobec/crocomplements/contact/contact1d.hxx
@@ -150,8 +150,8 @@ void ContactModel1DTpl<Scalar>::updateForce(
     const boost::shared_ptr<crocoddyl::ContactDataAbstractTpl<Scalar>>& data,
     const VectorXs& force) {
   if (force.size() != 1) {
-    throw_pretty("Invalid argument: "
-                 << "lambda has wrong dimension (it should be 1)");
+    throw_pretty(
+        "Invalid argument: " << "lambda has wrong dimension (it should be 1)");
   }
   Data* d = static_cast<Data*>(data.get());
   d->oRf = d->pinocchio->oMf[id_].rotation();

diff --git a/include/sobec/crocomplements/contact/contact3d.hxx b/include/sobec/crocomplements/contact/contact3d.hxx
@@ -145,8 +145,8 @@ void ContactModel3DTpl<Scalar>::updateForce(
     const boost::shared_ptr<crocoddyl::ContactDataAbstractTpl<Scalar>>& data,
     const VectorXs& force) {
   if (force.size() != 3) {
-    throw_pretty("Invalid argument: "
-                 << "lambda has wrong dimension (it should be 3)");
+    throw_pretty(
+        "Invalid argument: " << "lambda has wrong dimension (it should be 3)");
   }
   Data* d = static_cast<Data*>(data.get());
   d->oRf = d->pinocchio->oMf[id_].rotation();

diff --git a/include/sobec/crocomplements/contact/contact6d.hxx b/include/sobec/crocomplements/contact/contact6d.hxx
@@ -131,8 +131,8 @@ void ContactModel6DTpl<Scalar>::updateForce(
     const boost::shared_ptr<crocoddyl::ContactDataAbstractTpl<Scalar>>& data,
     const VectorXs& force) {
   if (force.size() != 6) {
-    throw_pretty("Invalid argument: "
-                 << "lambda has wrong dimension (it should be 6)");
+    throw_pretty(
+        "Invalid argument: " << "lambda has wrong dimension (it should be 6)");
   }
   Data* d = static_cast<Data*>(data.get());
   d->oRf = d->pinocchio->oMf[id_].rotation();

diff --git a/include/sobec/crocomplements/contact/multiple-contacts.hxx b/include/sobec/crocomplements/contact/multiple-contacts.hxx
@@ -30,17 +30,17 @@ void ContactModelMultipleTpl<Scalar>::updateForceDiff(
   const std::size_t ndx = this->get_state()->get_ndx();
   if (static_cast<std::size_t>(df_dx->rows()) != this->get_nc() ||
       static_cast<std::size_t>(df_dx->cols()) != ndx) {
-    throw_pretty("Invalid argument: "
-                 << "df_dx has wrong dimension (it should be " +
-                        std::to_string(this->get_nc()) + "," +
-                        std::to_string(ndx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "df_dx has wrong dimension (it should be " +
+                                    std::to_string(this->get_nc()) + "," +
+                                    std::to_string(ndx) + ")");
   }
   if (static_cast<std::size_t>(df_du->rows()) != this->get_nc() ||
       static_cast<std::size_t>(df_du->cols()) != this->get_nu()) {
-    throw_pretty("Invalid argument: "
-                 << "df_du has wrong dimension (it should be " +
-                        std::to_string(this->get_nc()) + "," +
-                        std::to_string(this->get_nu()) + ")");
+    throw_pretty(
+        "Invalid argument: " << "df_du has wrong dimension (it should be " +
+                                    std::to_string(this->get_nc()) + "," +
+                                    std::to_string(this->get_nu()) + ")");
   }
   if (static_cast<std::size_t>(data->contacts.size()) !=
       this->get_contacts().size()) {

diff --git a/include/sobec/crocomplements/lowpassfilter/action.hxx b/include/sobec/crocomplements/lowpassfilter/action.hxx
@@ -131,14 +131,14 @@ void IntegratedActionModelLPFTpl<Scalar>::calc(
   const std::size_t& nx = differential_->get_state()->get_nx();
 
   if (static_cast<std::size_t>(y.size()) != ny_) {
-    throw_pretty("Invalid argument: "
-                 << "y has wrong dimension (it should be " +
-                        std::to_string(ny_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "y has wrong dimension (it should be " +
+                                    std::to_string(ny_) + ")");
   }
   if (static_cast<std::size_t>(w.size()) != nw_) {
-    throw_pretty("Invalid argument: "
-                 << "w has wrong dimension (it should be " +
-                        std::to_string(nw_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "w has wrong dimension (it should be " +
+                                    std::to_string(nw_) + ")");
   }
 
   // Static casting the data
@@ -162,14 +162,14 @@ void IntegratedActionModelLPFTpl<Scalar>::calc(
   const Eigen::Ref<const VectorXs>& tau = d->tau_tmp;
   // std::cout << "[lpf.calc] tau = " << tau << std::endl;
   if (static_cast<std::size_t>(x.size()) != nx) {
-    throw_pretty("Invalid argument: "
-                 << "x has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "x has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
   if (static_cast<std::size_t>(tau.size()) != nw_) {
-    throw_pretty("Invalid argument: "
-                 << "tau has wrong dimension (it should be " +
-                        std::to_string(nw_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "tau has wrong dimension (it should be " +
+                                    std::to_string(nw_) + ")");
   }
   if (static_cast<std::size_t>(d->Fy.rows()) !=
       boost::static_pointer_cast<StateLPF>(state_)->get_ndy()) {
@@ -190,9 +190,9 @@ void IntegratedActionModelLPFTpl<Scalar>::calc(
                ")");
   }
   if (static_cast<std::size_t>(d->Fw.cols()) != nw_) {
-    throw_pretty("Invalid argument: "
-                 << "Fw.cols() has wrong dimension (it should be " +
-                        std::to_string(nw_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "Fw.cols() has wrong dimension (it should be " +
+                                    std::to_string(nw_) + ")");
   }
   if (static_cast<std::size_t>(d->r.size()) !=
       differential_->get_nr() + 2 * ntau_) {
@@ -211,9 +211,9 @@ void IntegratedActionModelLPFTpl<Scalar>::calc(
                ")");
   }
   if (static_cast<std::size_t>(d->Lw.size()) != nw_) {
-    throw_pretty("Invalid argument: "
-                 << "Lw has wrong dimension (it should be " +
-                        std::to_string(nw_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "Lw has wrong dimension (it should be " +
+                                    std::to_string(nw_) + ")");
   }
 
   // Compute acceleration and cost (DAM, i.e. CT model)
@@ -305,9 +305,9 @@ void IntegratedActionModelLPFTpl<Scalar>::calc(
   const std::size_t& nx = differential_->get_state()->get_nx();
 
   if (static_cast<std::size_t>(y.size()) != ny_) {
-    throw_pretty("Invalid argument: "
-                 << "y has wrong dimension (it should be " +
-                        std::to_string(ny_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "y has wrong dimension (it should be " +
+                                    std::to_string(ny_) + ")");
   }
 
   // Static casting the data
@@ -335,14 +335,14 @@ void IntegratedActionModelLPFTpl<Scalar>::calcDiff(
   const std::size_t& ndx = differential_->get_state()->get_ndx();
 
   if (static_cast<std::size_t>(y.size()) != ny_) {
-    throw_pretty("Invalid argument: "
-                 << "y has wrong dimension (it should be " +
-                        std::to_string(ny_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "y has wrong dimension (it should be " +
+                                    std::to_string(ny_) + ")");
   }
   if (static_cast<std::size_t>(w.size()) != nw_) {
-    throw_pretty("Invalid argument: "
-                 << "w has wrong dimension (it should be " +
-                        std::to_string(nw_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "w has wrong dimension (it should be " +
+                                    std::to_string(nw_) + ")");
   }
 
   // Static casting the data
@@ -541,7 +541,7 @@ void IntegratedActionModelLPFTpl<Scalar>::calcDiff(
       }
 #endif
     }  // tauLim !=0
-  }    // tau integration
+  }  // tau integration
 
   //   // TAU PLUS INTEGRATION
   //   else {
@@ -741,9 +741,9 @@ void IntegratedActionModelLPFTpl<Scalar>::calcDiff(
   const std::size_t& ndx = differential_->get_state()->get_ndx();
 
   if (static_cast<std::size_t>(y.size()) != ny_) {
-    throw_pretty("Invalid argument: "
-                 << "y has wrong dimension (it should be " +
-                        std::to_string(ny_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "y has wrong dimension (it should be " +
+                                    std::to_string(ny_) + ")");
   }
   // Static casting the data
   boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data);
@@ -820,8 +820,7 @@ const Scalar& IntegratedActionModelLPFTpl<Scalar>::get_fc() const {
 template <typename Scalar>
 void IntegratedActionModelLPFTpl<Scalar>::set_dt(const Scalar& dt) {
   if (dt < 0.) {
-    throw_pretty("Invalid argument: "
-                 << "dt has positive value");
+    throw_pretty("Invalid argument: " << "dt has positive value");
   }
   time_step_ = dt;
   time_step2_ = dt * dt;
@@ -831,8 +830,7 @@ template <typename Scalar>
 void IntegratedActionModelLPFTpl<Scalar>::set_fc(const Scalar& fc) {
   // Set the cut-off frequency
   if (fc <= 0.) {
-    throw_pretty("Invalid argument: "
-                 << "fc must be positive");
+    throw_pretty("Invalid argument: " << "fc must be positive");
   } else {
     fc_ = fc;
   }
@@ -842,8 +840,7 @@ template <typename Scalar>
 void IntegratedActionModelLPFTpl<Scalar>::set_alpha(const Scalar& alpha) {
   // Set the cut-off frequency
   if (alpha < 0. || alpha > 1) {
-    throw_pretty("Invalid argument: "
-                 << "alpha must be in [0,1]");
+    throw_pretty("Invalid argument: " << "alpha must be in [0,1]");
   } else {
     alpha_ = alpha;
   }
@@ -917,14 +914,14 @@ void IntegratedActionModelLPFTpl<Scalar>::quasiStatic(
     const Eigen::Ref<const VectorXs>& x, const std::size_t maxiter,
     const Scalar tol) {
   if (static_cast<std::size_t>(u.size()) != nu_) {
-    throw_pretty("Invalid argument: "
-                 << "u has wrong dimension (it should be " +
-                        std::to_string(nu_) + ")");
+    throw_pretty(
+        "Invalid argument: " << "u has wrong dimension (it should be " +
+                                    std::to_string(nu_) + ")");
   }
   if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
-    throw_pretty("Invalid argument: "
-                 << "x has wrong dimension (it should be " +
-                        std::to_string(state_->get_nx()) + ")");
+    throw_pretty(
+        "Invalid argument: " << "x has wrong dimension (it should be " +
+                                    std::to_string(state_->get_nx()) + ")");
   }
 
   // Static casting the data