[pre-commit.ci] pre-commit autoupdate

.pre-commit-config.yaml

@@ -11,7 +11,7 @@ repos:
   - id: check-useless-excludes
   - id: check-hooks-apply
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v18.1.3
+  rev: v19.1.7
   hooks:
   - id: clang-format
     'types_or': [c++, c]
@@ -22,7 +22,7 @@ repos:
           utils/mc_bin_flatbuffers/.*
       )$
 - 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
@@ -52,7 +52,7 @@ repos:
   - id: mixed-line-ending
   - id: trailing-whitespace
 - repo: https://github.com/psf/black
-  rev: 24.3.0
+  rev: 25.1.0
   hooks:
   - id: black
     exclude: |
@@ -61,7 +61,7 @@ repos:
           utils/mc_log_gui/mc_log_ui/ui/.*
       )$
 - repo: https://github.com/PyCQA/flake8
-  rev: 7.0.0
+  rev: 7.1.1
   hooks:
   - id: flake8
     args:

debian/rules

@@ -7,7 +7,7 @@ export ROS_PYTHON_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$R
 ifeq (${ROS_PYTHON_VERSION}, 3)
 	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python3/dist-packages:${PYTHONPATH}
 	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python$(shell python3 -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}');")/site-packages:${PYTHONPATH}
-	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/local/lib/python$(shell python3 -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}');")/dist-packages:${PYTHONPATH}	
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/local/lib/python$(shell python3 -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}');")/dist-packages:${PYTHONPATH}
 	export MC_LOG_UI_PYTHON_EXECUTABLE:=python3
 else
 	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages:${PYTHONPATH}

include/mc_rtc/Schema.h

@@ -259,8 +259,8 @@ struct Operations
   std::function<void(const void * self, Configuration & out)> save = [](const void *, Configuration &) {};
 
   /** Write to a MessagePackBuilder */
-  std::function<void(const void * self, MessagePackBuilder & builder)> write = [](const void *, MessagePackBuilder &) {
-  };
+  std::function<void(const void * self, MessagePackBuilder & builder)> write = [](const void *,
+                                                                                  MessagePackBuilder &) {};
 
   /** Load from a configuration object */
   std::function<void(void * self, const Configuration & in)> load = [](void *, const Configuration &) {};
@@ -297,7 +297,7 @@ struct Operations
    *
    * \param choices Possible choices when \tparam HasChoices is true
    */
-  template<typename T, typename Schema, T Schema::*ptr, ValueFlag Flags = ValueFlag::All, bool HasChoices = false>
+  template<typename T, typename Schema, T Schema::* ptr, ValueFlag Flags = ValueFlag::All, bool HasChoices = false>
   bool registerValue(details::MemberPointerWrapper<ptr>,
                      const std::string & name,
                      const std::string & description,

include/mc_rtc/gui/Arrow.h

@@ -38,7 +38,7 @@ struct ArrowROImpl : public Element
   }
 
   /** Invalid element */
-  ArrowROImpl(){};
+  ArrowROImpl() {};
 
   constexpr static size_t write_size() { return Element::write_size() + 3 + ArrowConfig::write_size(); }
 
@@ -72,7 +72,7 @@ struct ArrowImpl : public ArrowROImpl<GetStart, GetEnd>
   }
 
   /** Invalid element */
-  ArrowImpl(){};
+  ArrowImpl() {};
 
   void write(mc_rtc::MessagePackBuilder & builder) { ArrowROImpl<GetStart, GetEnd>::write(builder, false); }
 

include/mc_rtc/log/iterate_binary_log.h

@@ -67,7 +67,8 @@ inline bool iterate_binary_log(const std::string & fpath,
 {
   return iterate_binary_log(
       fpath,
-      [&callback](IterateBinaryLogData data) {
+      [&callback](IterateBinaryLogData data)
+      {
         return callback(data.keys, data.records, data.time.value_or(-1), data.copy_cb, data.raw_data,
                         data.raw_data_size);
       },

include/mc_solver/utils/Update.h

@@ -13,9 +13,7 @@ namespace mc_solver
 namespace utils
 {
 
-struct MC_SOLVER_DLLAPI UpdateTag
-{
-};
+struct MC_SOLVER_DLLAPI UpdateTag{};
 
 template<typename UpdateNrVars>
 struct Update : public UpdateNrVars, UpdateTag

include/mc_tasks/lipm_stabilizer/StabilizerTask.h

@@ -782,7 +782,7 @@ struct MC_TASKS_DLLAPI StabilizerTask : public MetaTask
    *  @param offset_gamma [out] - Com offset
    *  @param coef_alpha [out] - ZmP coefficient
    */
-  template<sva::ForceVecd ExternalWrench::*TargetOrMeasured>
+  template<sva::ForceVecd ExternalWrench::* TargetOrMeasured>
   void computeWrenchOffsetAndCoefficient(const mc_rbdyn::Robot & robot,
                                          Eigen::Vector3d & offset_gamma,
                                          double & coef_kappa) const;
@@ -793,7 +793,7 @@ struct MC_TASKS_DLLAPI StabilizerTask : public MetaTask
    *  @param robot Robot used to transform surface wrenches (control robot or real robot)
    *  @param com Robot CoM
    */
-  template<sva::ForceVecd ExternalWrench::*TargetOrMeasured>
+  template<sva::ForceVecd ExternalWrench::* TargetOrMeasured>
   sva::ForceVecd computeExternalWrenchSum(const mc_rbdyn::Robot & robot, const Eigen::Vector3d & com) const;
 
   /** @brief Compute the position, force, and moment of the external contacts in the world frame.

src/mc_control/samples/Admittance/src/mc_admittance_sample_controller.cpp

@@ -10,10 +10,9 @@ AdmittanceSampleController::AdmittanceSampleController(mc_rbdyn::RobotModulePtr
                                                        Backend backend)
 : mc_control::fsm::Controller(rm, dt, config, backend)
 {
-  datastore().make_call("KinematicAnchorFrame::" + robot().name(),
-                        [](const mc_rbdyn::Robot & robot) {
-                          return sva::interpolate(robot.surfacePose("LeftFoot"), robot.surfacePose("RightFoot"), 0.5);
-                        });
+  datastore().make_call(
+      "KinematicAnchorFrame::" + robot().name(), [](const mc_rbdyn::Robot & robot)
+      { return sva::interpolate(robot.surfacePose("LeftFoot"), robot.surfacePose("RightFoot"), 0.5); });
 }
 
 void AdmittanceSampleController::reset(const mc_control::ControllerResetData & reset_data)

src/mc_control/samples/ExternalForces/src/mc_external_forces_controller.cpp

@@ -10,10 +10,9 @@ ExternalForcesController::ExternalForcesController(mc_rbdyn::RobotModulePtr rm,
                                                    Backend backend)
 : mc_control::fsm::Controller(rm, dt, config, backend)
 {
-  datastore().make_call("KinematicAnchorFrame::" + robot().name(),
-                        [](const mc_rbdyn::Robot & robot) {
-                          return sva::interpolate(robot.surfacePose("LeftFoot"), robot.surfacePose("RightFoot"), 0.5);
-                        });
+  datastore().make_call(
+      "KinematicAnchorFrame::" + robot().name(), [](const mc_rbdyn::Robot & robot)
+      { return sva::interpolate(robot.surfacePose("LeftFoot"), robot.surfacePose("RightFoot"), 0.5); });
 }
 
 void ExternalForcesController::reset(const mc_control::ControllerResetData & reset_data)

src/mc_rbdyn/gui/RobotConvex.cpp

@@ -79,7 +79,8 @@ void addConvexToGUI(mc_rtc::gui::StateBuilder & gui,
   {
     publish_object(mc_rtc::gui::Cylinder(
         publishName.value_or(name),
-        [cylinder]() {
+        [cylinder]()
+        {
           return mc_rtc::gui::CylinderParameters{cylinder->getRadius(), (cylinder->getP2() - cylinder->getP1()).norm()};
         },
         get_pose, mc_rtc::gui::Color::Green));

src/mc_tasks/lipm_stabilizer/StabilizerTask.cpp

@@ -636,7 +636,7 @@ void StabilizerTask::setExternalWrenches(const std::vector<std::string> & surfac
   computeWrenchOffsetAndCoefficient<&ExternalWrench::target>(robot(), comOffsetTarget_, zmpCoefTarget_);
 }
 
-template<sva::ForceVecd StabilizerTask::ExternalWrench::*TargetOrMeasured>
+template<sva::ForceVecd StabilizerTask::ExternalWrench::* TargetOrMeasured>
 void StabilizerTask::computeWrenchOffsetAndCoefficient(const mc_rbdyn::Robot & robot,
                                                        Eigen::Vector3d & offset_gamma,
                                                        double & coef_kappa) const
@@ -669,7 +669,7 @@ void StabilizerTask::computeWrenchOffsetAndCoefficient(const mc_rbdyn::Robot & r
   offset_gamma /= zeta;
 }
 
-template<sva::ForceVecd StabilizerTask::ExternalWrench::*TargetOrMeasured>
+template<sva::ForceVecd StabilizerTask::ExternalWrench::* TargetOrMeasured>
 sva::ForceVecd StabilizerTask::computeExternalWrenchSum(const mc_rbdyn::Robot & robot,
                                                         const Eigen::Vector3d & com) const
 {

tests/controllers/TestObserverController.in.cpp

@@ -199,10 +199,9 @@ struct MC_CONTROL_DLLAPI TestObserverController : public MCController
     BOOST_REQUIRE(allclose(realRobot().posW().rotation(), robot().posW().rotation()));
 
     // Add anchor frame
-    datastore().make_call("KinematicAnchorFrame::" + robot().name(),
-                          [](const mc_rbdyn::Robot & robot) {
-                            return sva::interpolate(robot.surfacePose("LeftFoot"), robot.surfacePose("RightFoot"), 0.5);
-                          });
+    datastore().make_call(
+        "KinematicAnchorFrame::" + robot().name(), [](const mc_rbdyn::Robot & robot)
+        { return sva::interpolate(robot.surfacePose("LeftFoot"), robot.surfacePose("RightFoot"), 0.5); });
   }
 
 private: