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

for more information, see https://pre-commit.ci

include/crocoddyl/multibody/contacts/contact-6d-loop.hxx

@@ -30,7 +30,7 @@ ContactModel6DLoopTpl<Scalar>::ContactModel6DLoopTpl(
       gains_(gains) {
   if (ref != pinocchio::ReferenceFrame::LOCAL) {
     std::cerr << "Warning: Only reference frame pinocchio::LOCAL is supported "
-              "for 6D loop contacts"
+                 "for 6D loop contacts"
               << std::endl;
   }
 }
@@ -126,19 +126,23 @@ void ContactModel6DLoopTpl<Scalar>::calcDiff(
       pinocchio::LOCAL, d->v2_partial_dq, d->a2_partial_dq, d->a2_partial_dv,
       d->a2_partial_da);
 
-  d->da0_dq_t1.noalias() = joint1_placement_.toActionMatrixInverse() * d->a1_partial_dq;
+  d->da0_dq_t1.noalias() =
+      joint1_placement_.toActionMatrixInverse() * d->a1_partial_dq;
 
   d->da0_dq_t2.noalias() = d->f1af2.toActionMatrix() * d->Jc;
-  d->f2_a2_partial_dq.noalias() = joint2_placement_.toActionMatrixInverse() *
-                              d->a2_partial_dq;
+  d->f2_a2_partial_dq.noalias() =
+      joint2_placement_.toActionMatrixInverse() * d->a2_partial_dq;
   d->da0_dq_t2.noalias() += d->f1Xf2 * d->f2_a2_partial_dq;
-
-  d->f1_v1_partial_dq.noalias() = joint1_placement_.toActionMatrixInverse() * d->v1_partial_dq;
-  d->da0_dq_t3.noalias() = - d->f1vf2.toActionMatrix() * d->f1_v1_partial_dq;
+
+  d->f1_v1_partial_dq.noalias() =
+      joint1_placement_.toActionMatrixInverse() * d->v1_partial_dq;
+  d->da0_dq_t3.noalias() = -d->f1vf2.toActionMatrix() * d->f1_v1_partial_dq;
   d->da0_dq_t3_tmp.noalias() = d->f1vf2.toActionMatrix() * d->Jc;
   d->da0_dq_t3.noalias() += d->f1vf1.toActionMatrix() * d->da0_dq_t3_tmp;
-  d->da0_dq_t3_tmp.noalias() = joint2_placement_.toActionMatrixInverse() * d->v2_partial_dq;
-  d->da0_dq_t3.noalias() += d->f1vf1.toActionMatrix() * d->f1Xf2 * d->da0_dq_t3_tmp;
+  d->da0_dq_t3_tmp.noalias() =
+      joint2_placement_.toActionMatrixInverse() * d->v2_partial_dq;
+  d->da0_dq_t3.noalias() +=
+      d->f1vf1.toActionMatrix() * d->f1Xf2 * d->da0_dq_t3_tmp;
   d->da0_dx.leftCols(nv).noalias() = d->da0_dq_t1 - d->da0_dq_t2 + d->da0_dq_t3;
 
   d->da0_dx.rightCols(nv).noalias() =