Reformat with newer clang-format

wavelab · Oct 20, 2018 · c35a5d9 · c35a5d9
1 parent c90e633
commit c35a5d9
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Showing 38 changed files with 198 additions and 182 deletions.
diff --git a/.clang-format b/.clang-format
@@ -45,6 +45,7 @@ PenaltyBreakString: 1000
 PenaltyExcessCharacter: 1000000
 PenaltyReturnTypeOnItsOwnLine: 200
 PointerAlignment: Right
+SortIncludes: false
 SpaceAfterCStyleCast: true
 SpaceBeforeAssignmentOperators: true
 SpaceBeforeParens: ControlStatements

diff --git a/.travis.yml b/.travis.yml
@@ -17,7 +17,7 @@ _common_packages: &common_packages
   - libboost1.54-dev
   - libeigen3-dev
   - libgtest-dev
-  - clang-format-3.8
+  - clang-format-6.0
 
 jobs:
   include:

diff --git a/benchmarks/rotate_chain/imu_preint.cpp b/benchmarks/rotate_chain/imu_preint.cpp
@@ -44,7 +44,7 @@ BENCHMARK_F(Imu, waveTyped)(benchmark::State &state) {
               inverse(meas_Rij[i] * exp(wg[i])) * inverse(R_i[i]) * R_j[i];
             const auto &expr = log(expr1);
 
-            auto[r, J1, J2, J_phi_i, J_phi_j] =
+            auto [r, J1, J2, J_phi_i, J_phi_j] =
               expr.evalWithJacobians(meas_Rij[i], wg[i], R_i[i], R_j[i]);
             benchmark::DoNotOptimize(r);
             benchmark::DoNotOptimize(J1);
@@ -63,7 +63,7 @@ BENCHMARK_F(Imu, waveReverse)(benchmark::State &state) {
             const auto &expr = log(expr1);
 
 
-            auto[r, J1, J2, J_phi_i, J_phi_j] =
+            auto [r, J1, J2, J_phi_i, J_phi_j] =
               wave::internal::evaluateWithReverseJacobians(expr);
             benchmark::DoNotOptimize(r);
             benchmark::DoNotOptimize(J1);
@@ -81,7 +81,7 @@ BENCHMARK_F(Imu, waveUntyped)(benchmark::State &state) {
               inverse(meas_Rij[i] * exp(wg[i])) * inverse(R_i[i]) * R_j[i];
             const auto &expr = log(expr1);
 
-            auto[r, J1, J2, J_phi_i, J_phi_j] = wave::internal::evaluateWithJacobians(
+            auto [r, J1, J2, J_phi_i, J_phi_j] = wave::internal::evaluateWithJacobians(
               expr, meas_Rij[i], wg[i], R_i[i], R_j[i]);
             benchmark::DoNotOptimize(r);
             benchmark::DoNotOptimize(J1);

diff --git a/benchmarks/rotate_chain/rotate_chain_wave_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_bench.cpp
@@ -47,7 +47,7 @@ class RotateChain : public benchmark::Fixture {
 BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians(R10[i], v10[i]);
+            auto [v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians(R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J10);
             benchmark::DoNotOptimize(Jv10);
@@ -59,7 +59,7 @@ BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J9, J10, Jv10] =
+            auto [v0, J9, J10, Jv10] =
               (R9[i] * R10[i] * v10[i]).evalWithJacobians(R9[i], R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J9);
@@ -73,7 +73,7 @@ BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J8, J9, J10, Jv10] =
+            auto [v0, J8, J9, J10, Jv10] =
               (R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R8[i], R9[i], R10[i], v10[i]);
 
@@ -89,7 +89,7 @@ BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J7, J8, J9, J10, Jv10] =
+            auto [v0, J7, J8, J9, J10, Jv10] =
               (R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -106,7 +106,7 @@ BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J6, J7, J8, J9, J10, Jv10] =
               (R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -124,7 +124,7 @@ BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J5, J6, J7, J8, J9, J10, Jv10] =
               (R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
             benchmark::DoNotOptimize(J5);
@@ -142,7 +142,7 @@ BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -162,7 +162,7 @@ BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R3[i], R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -183,7 +183,7 @@ BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] *
                v10[i])
                 .evalWithJacobians(
@@ -207,7 +207,7 @@ BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave10)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R1[i] * R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] *
                R10[i] * v10[i])
                 .evalWithJacobians(R1[i],

diff --git a/benchmarks/rotate_chain/rotate_chain_wave_dynamic_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_dynamic_bench.cpp
@@ -18,7 +18,7 @@ void BM_waveAll(benchmark::State &state) {
     }
 
     for (auto _ : state) {
-        auto[res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
+        auto [res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
 
         benchmark::DoNotOptimize(res);
         benchmark::DoNotOptimize(jac_map);
@@ -36,7 +36,7 @@ void BM_dynamicNoVirtual(benchmark::State &state) {
         auto expr =
           R[0] * R[1] * R[2] * R[3] * R[4] * R[5] * R[6] * R[7] * R[8] * R[9] * v;
 
-        auto[res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
+        auto [res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
 
         benchmark::DoNotOptimize(res);
         benchmark::DoNotOptimize(jac_map);

diff --git a/benchmarks/rotate_chain/rotate_chain_wave_reverse_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_reverse_bench.cpp
@@ -47,7 +47,7 @@ class RotateChain : public benchmark::Fixture {
 BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians();
+            auto [v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J10);
             benchmark::DoNotOptimize(Jv10);
@@ -59,7 +59,7 @@ BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J9, J10, Jv10] = (R9[i] * R10[i] * v10[i]).evalWithJacobians();
+            auto [v0, J9, J10, Jv10] = (R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J9);
             benchmark::DoNotOptimize(J10);
@@ -72,7 +72,7 @@ BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J8, J9, J10, Jv10] =
+            auto [v0, J8, J9, J10, Jv10] =
               (R8[i] * R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J8);
@@ -87,7 +87,7 @@ BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J7, J8, J9, J10, Jv10] =
+            auto [v0, J7, J8, J9, J10, Jv10] =
               (R7[i] * R8[i] * R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J7);
@@ -103,7 +103,7 @@ BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J6, J7, J8, J9, J10, Jv10] =
               (R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J6);
@@ -120,7 +120,7 @@ BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J5, J6, J7, J8, J9, J10, Jv10] =
               (R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians();
             benchmark::DoNotOptimize(J5);
@@ -138,7 +138,7 @@ BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians();
             benchmark::DoNotOptimize(J4);
@@ -157,7 +157,7 @@ BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians();
             benchmark::DoNotOptimize(J3);
@@ -177,7 +177,7 @@ BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] *
                v10[i])
                 .evalWithJacobians();
@@ -200,7 +200,7 @@ BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave10)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R1[i] * R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] *
                R10[i] * v10[i])
                 .evalWithJacobians();

diff --git a/benchmarks/rotate_chain/rotate_chain_wave_untyped_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_untyped_bench.cpp
@@ -28,7 +28,7 @@ BENCHMARK_F(RotateChain, waveUntyped1)(benchmark::State &state) {
         for (auto i = N; i-- > 0;) {
             // use internal::evaluateWithJacobians to force untyped evaluator despite
             // unique types
-            auto[v0, J10, Jv10] =
+            auto [v0, J10, Jv10] =
               wave::internal::evaluateWithJacobians(R10[i] * v10[i], R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J10);
@@ -41,7 +41,7 @@ BENCHMARK_F(RotateChain, waveUntyped1)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped2)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J9, J10, Jv10] =
+            auto [v0, J9, J10, Jv10] =
               (R9[i] * R10[i] * v10[i]).evalWithJacobians(R9[i], R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J9);
@@ -55,7 +55,7 @@ BENCHMARK_F(RotateChain, waveUntyped2)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped3)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J8, J9, J10, Jv10] =
+            auto [v0, J8, J9, J10, Jv10] =
               (R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R8[i], R9[i], R10[i], v10[i]);
 
@@ -71,7 +71,7 @@ BENCHMARK_F(RotateChain, waveUntyped3)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped4)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J7, J8, J9, J10, Jv10] =
+            auto [v0, J7, J8, J9, J10, Jv10] =
               (R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -88,7 +88,7 @@ BENCHMARK_F(RotateChain, waveUntyped4)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped5)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J6, J7, J8, J9, J10, Jv10] =
               (R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -106,7 +106,7 @@ BENCHMARK_F(RotateChain, waveUntyped5)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped6)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J5, J6, J7, J8, J9, J10, Jv10] =
               (R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
             benchmark::DoNotOptimize(J5);
@@ -124,7 +124,7 @@ BENCHMARK_F(RotateChain, waveUntyped6)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped7)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -144,7 +144,7 @@ BENCHMARK_F(RotateChain, waveUntyped7)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped8)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R3[i], R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -165,7 +165,7 @@ BENCHMARK_F(RotateChain, waveUntyped8)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped9)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] *
                v10[i])
                 .evalWithJacobians(
@@ -189,7 +189,7 @@ BENCHMARK_F(RotateChain, waveUntyped9)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped10)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R1[i] * R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] *
                R10[i] * v10[i])
                 .evalWithJacobians(R1[i],