Merge pull request #92 from nim65s/devel

 reformat for clang-format-12

.clang-format

 ---
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+# BasedOnStyle:  Google
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+  - BOOST_FOREACH
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+  - NS_SWIFT_NAME
+  - CF_SWIFT_NAME
 ...

cmake @ 9078d521

-Subproject commit a689714c0d0890ffff5649ba25cbaed44dd6e660
+Subproject commit 9078d521dc23fabae72e3fe8d7c0068c68364eef

include/dynamic-graph/all-commands.h

@@ -15,4 +15,4 @@
 #include <dynamic-graph/command-setter.h>
 #include <dynamic-graph/command.h>
 
-#endif //! DYNAMIC_GRAPH_ALL_COMMANDS_H
+#endif  //! DYNAMIC_GRAPH_ALL_COMMANDS_H

include/dynamic-graph/all-signals.h

@@ -12,4 +12,4 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <dynamic-graph/signal.h>
 
-#endif //! DYNAMIC_GRAPH_ALL_SIGNALS_H
+#endif  //! DYNAMIC_GRAPH_ALL_SIGNALS_H

include/dynamic-graph/command-direct-getter.h

@@ -15,15 +15,17 @@
  *
  */
 
-#include "dynamic-graph/command.h"
 #include <boost/assign/list_of.hpp>
 
+#include "dynamic-graph/command.h"
+
 /* --- GETTER --------------------------------------------------------- */
 namespace dynamicgraph {
 namespace command {
 
-template <class E, typename T> class DirectGetter : public Command {
-public:
+template <class E, typename T>
+class DirectGetter : public Command {
+ public:
   /// Pointer to method that sets parameter of type T
   typedef T (E::*GetterMethod)() const;
 
@@ -31,10 +33,10 @@ public:
   DirectGetter(E &entity, T *ptr, const std::string &docString)
       : Command(entity, std::vector<Value::Type>(), docString), T_ptr(ptr) {}
 
-protected:
+ protected:
   virtual Value doExecute() { return Value(*T_ptr); }
 
-private:
+ private:
   T *T_ptr;
 };
 
@@ -50,7 +52,7 @@ inline std::string docDirectGetter(const std::string &name,
          type + ".\n\n";
 }
 
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
 
-#endif // __dg_command_direct_getter_h__
+#endif  // __dg_command_direct_getter_h__

include/dynamic-graph/command-direct-setter.h

@@ -15,29 +15,31 @@
  *
  */
 
-#include "dynamic-graph/command.h"
 #include <boost/assign/list_of.hpp>
 
+#include "dynamic-graph/command.h"
+
 /* --- SETTER --------------------------------------------------------- */
 namespace dynamicgraph {
 namespace command {
 
-template <class E, typename T> class DirectSetter : public Command {
-public:
+template <class E, typename T>
+class DirectSetter : public Command {
+ public:
   DirectSetter(E &entity, T *ptr, const std::string &docString)
       : Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID),
                 docString),
         T_ptr(ptr) {}
 
-protected:
+ protected:
   virtual Value doExecute() {
     const std::vector<Value> &values = getParameterValues();
     T val = values[0].value();
     (*T_ptr) = val;
-    return Value(); // void
+    return Value();  // void
   }
 
-private:
+ private:
   T *T_ptr;
 };
 
@@ -53,7 +55,7 @@ inline std::string docDirectSetter(const std::string &name,
          ".\nVoid return.\n\n";
 }
 
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
 
-#endif // __dg_command_direct_setter_h__
+#endif  // __dg_command_direct_setter_h__

include/dynamic-graph/command-getter.h

@@ -41,21 +41,22 @@ namespace command {
 /// \li T should be a type supported by class Value,
 /// \li prototype of E::getParameter should be exactly as specified in this
 /// example.
-template <class E, typename T> class Getter : public Command {
-public:
+template <class E, typename T>
+class Getter : public Command {
+ public:
   /// Pointer to method that sets parameter of type T
   typedef T (E::*GetterMethod)() const;
   /// Constructor
   Getter(E &entity, GetterMethod getterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   GetterMethod getterMethod_;
 };
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
 
 #include "dynamic-graph/command-getter.t.cpp"
-#endif // DYNAMIC_GRAPH_COMMAND_GETTER_H
+#endif  // DYNAMIC_GRAPH_COMMAND_GETTER_H

include/dynamic-graph/command-getter.t.cpp

@@ -8,6 +8,7 @@
 #define DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
 
 #include "dynamic-graph/command-getter.h"
+
 #include <sstream>
 
 namespace dynamicgraph {
@@ -20,12 +21,13 @@ Getter<E, T>::Getter(E &entity, GetterMethod getterMethod,
     : Command(entity, std::vector<Value::Type>(), docstring),
       getterMethod_(getterMethod) {}
 
-template <class E, typename T> Value Getter<E, T>::doExecute() {
+template <class E, typename T>
+Value Getter<E, T>::doExecute() {
   E &entity = static_cast<E &>(owner());
   T value = (entity.*getterMethod_)();
   return Value(value);
 }
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
 
-#endif // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
+#endif  // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP

include/dynamic-graph/command-setter.h

@@ -41,21 +41,22 @@ namespace command {
 /// \li T should be a type supported by class Value,
 /// \li prototype of E::setParameter should be exactly as specified in this
 /// example.
-template <class E, typename T> class Setter : public Command {
-public:
+template <class E, typename T>
+class Setter : public Command {
+ public:
   /// Pointer to method that sets parameter of type T
   typedef void (E::*SetterMethod)(const T &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
 };
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
 
 #include "dynamic-graph/command-setter.t.cpp"
-#endif // DYNAMIC_GRAPH_COMMAND_SETTER_H
+#endif  // DYNAMIC_GRAPH_COMMAND_SETTER_H

include/dynamic-graph/command-setter.t.cpp

@@ -8,10 +8,12 @@
 #define DYNAMIC_GRAPH_COMMAND_SETTER_T_CPP
 
 #include "dynamic-graph/command-setter.h"
-#include "dynamic-graph/linear-algebra.h"
+
 #include <boost/assign/list_of.hpp>
 #include <sstream>
 
+#include "dynamic-graph/linear-algebra.h"
+
 namespace dynamicgraph {
 class Entity;
 namespace command {
@@ -19,19 +21,20 @@ namespace command {
 //
 // Template specialization: bool
 //
-template <class E> class Setter<E, bool> : public Command {
-public:
+template <class E>
+class Setter<E, bool> : public Command {
+ public:
   /// Pointer to method that sets parameter of type bool
   typedef void (E::*SetterMethod)(const bool &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, bool>::Setter(E &entity, SetterMethod setterMethod,
@@ -39,7 +42,8 @@ Setter<E, bool>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::BOOL), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, bool>::doExecute() {
+template <class E>
+Value Setter<E, bool>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   bool value = values[0].value();
@@ -51,19 +55,20 @@ template <class E> Value Setter<E, bool>::doExecute() {
 //
 // Template specialization: unsigned
 //
-template <class E> class Setter<E, unsigned> : public Command {
-public:
+template <class E>
+class Setter<E, unsigned> : public Command {
+ public:
   /// Pointer to method that sets parameter of type unsigned
   typedef void (E::*SetterMethod)(const unsigned &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, unsigned>::Setter(E &entity, SetterMethod setterMethod,
@@ -71,7 +76,8 @@ Setter<E, unsigned>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::UNSIGNED), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, unsigned>::doExecute() {
+template <class E>
+Value Setter<E, unsigned>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   unsigned value = values[0].value();
@@ -83,19 +89,20 @@ template <class E> Value Setter<E, unsigned>::doExecute() {
 //
 // Template specialization: int
 //
-template <class E> class Setter<E, int> : public Command {
-public:
+template <class E>
+class Setter<E, int> : public Command {
+ public:
   /// Pointer to method that sets parameter of type int
   typedef void (E::*SetterMethod)(const int &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, int>::Setter(E &entity, SetterMethod setterMethod,
@@ -103,7 +110,8 @@ Setter<E, int>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::INT), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, int>::doExecute() {
+template <class E>
+Value Setter<E, int>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   int value = values[0].value();
@@ -115,19 +123,20 @@ template <class E> Value Setter<E, int>::doExecute() {
 //
 // Template specialization: float
 //
-template <class E> class Setter<E, float> : public Command {
-public:
+template <class E>
+class Setter<E, float> : public Command {
+ public:
   /// Pointer to method that sets parameter of type float
   typedef void (E::*SetterMethod)(const float &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, float>::Setter(E &entity, SetterMethod setterMethod,
@@ -135,7 +144,8 @@ Setter<E, float>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::FLOAT), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, float>::doExecute() {
+template <class E>
+Value Setter<E, float>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   float value = values[0].value();
@@ -147,19 +157,20 @@ template <class E> Value Setter<E, float>::doExecute() {
 //
 // Template specialization: double
 //
-template <class E> class Setter<E, double> : public Command {
-public:
+template <class E>
+class Setter<E, double> : public Command {
+ public:
   /// Pointer to method that sets parameter of type double
   typedef void (E::*SetterMethod)(const double &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, double>::Setter(E &entity, SetterMethod setterMethod,
@@ -167,7 +178,8 @@ Setter<E, double>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::DOUBLE), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, double>::doExecute() {
+template <class E>
+Value Setter<E, double>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   double value = values[0].value();
@@ -179,19 +191,20 @@ template <class E> Value Setter<E, double>::doExecute() {
 //
 // Template specialization: std::string
 //
-template <class E> class Setter<E, std::string> : public Command {
-public:
+template <class E>
+class Setter<E, std::string> : public Command {
+ public:
   /// Pointer to method that sets parameter of type std::string
   typedef void (E::*SetterMethod)(const std::string &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, std::string>::Setter(E &entity, SetterMethod setterMethod,
@@ -199,7 +212,8 @@ Setter<E, std::string>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::STRING), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, std::string>::doExecute() {
+template <class E>
+Value Setter<E, std::string>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   std::string value = values[0].value();
@@ -211,19 +225,20 @@ template <class E> Value Setter<E, std::string>::doExecute() {
 //
 // Template specialization: Vector
 //
-template <class E> class Setter<E, Vector> : public Command {
-public:
+template <class E>
+class Setter<E, Vector> : public Command {
+ public:
   /// Pointer to method that sets parameter of type Vector
   typedef void (E::*SetterMethod)(const Vector &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, Vector>::Setter(E &entity, SetterMethod setterMethod,
@@ -231,7 +246,8 @@ Setter<E, Vector>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::VECTOR), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, Vector>::doExecute() {
+template <class E>
+Value Setter<E, Vector>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   Vector value = values[0].value();
@@ -243,19 +259,20 @@ template <class E> Value Setter<E, Vector>::doExecute() {
 //
 // Template specialization: Matrix
 //
-template <class E> class Setter<E, Matrix> : public Command {
-public:
+template <class E>
+class Setter<E, Matrix> : public Command {
+ public:
   /// Pointer to method that sets parameter of type Matrix
   typedef void (E::*SetterMethod)(const Matrix &);
   /// Constructor
   Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
 
-protected:
+ protected:
   virtual Value doExecute();
 
-private:
+ private:
   SetterMethod setterMethod_;
-}; // Class Setter
+};  // Class Setter
 
 template <class E>
 Setter<E, Matrix>::Setter(E &entity, SetterMethod setterMethod,
@@ -263,7 +280,8 @@ Setter<E, Matrix>::Setter(E &entity, SetterMethod setterMethod,
     : Command(entity, boost::assign::list_of(Value::MATRIX), docString),
       setterMethod_(setterMethod) {}
 
-template <class E> Value Setter<E, Matrix>::doExecute() {
+template <class E>
+Value Setter<E, Matrix>::doExecute() {
   const std::vector<Value> &values = getParameterValues();
   // Get parameter
   Matrix value = values[0].value();
@@ -272,7 +290,7 @@ template <class E> Value Setter<E, Matrix>::doExecute() {
   return Value();
 }
 
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
 
-#endif // DYNAMIC_GRAPH_COMMAND_SETTER_T_CPP
+#endif  // DYNAMIC_GRAPH_COMMAND_SETTER_T_CPP

include/dynamic-graph/command.h

@@ -7,9 +7,10 @@
 #ifndef DYNAMIC_GRAPH_COMMAND_H
 #define DYNAMIC_GRAPH_COMMAND_H
 
+#include <vector>
+
 #include "dynamic-graph/dynamic-graph-api.h"
 #include "dynamic-graph/value.h"
-#include <vector>
 
 namespace dynamicgraph {
 class Entity;
@@ -32,7 +33,7 @@ namespace command {
 /// vector of Values the types of which should fit the vector specified
 /// at construction.
 class DYNAMIC_GRAPH_DLLAPI Command {
-public:
+ public:
   virtual ~Command();
   /// Store the owner entity and a vector of value types
   /// \param entity reference to Entity owning this command.
@@ -53,20 +54,20 @@ public:
   /// Get documentation string
   std::string getDocstring() const;
 
-protected:
+ protected:
   /// Specific action performed by the command
   virtual Value doExecute() = 0;
 
-private:
+ private:
   Entity &owner_;
   std::vector<Value::Type> valueTypeVector_;
   std::vector<Value> valueVector_;
   std::string docstring_;
 
-public:
+ public:
   static const std::vector<Value::Type> EMPTY_ARG;
 };
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
 
-#endif // DYNAMIC_GRAPH_COMMAND_H
+#endif  // DYNAMIC_GRAPH_COMMAND_H

include/dynamic-graph/debug.h

@@ -5,29 +5,29 @@
 
 #ifndef DYNAMIC_GRAPH_DEBUG_HH
 #define DYNAMIC_GRAPH_DEBUG_HH
+#include <dynamic-graph/dynamic-graph-api.h>
+
 #include <cstdarg>
 #include <cstdio>
+#include <dynamic-graph/fwd.hh>
 #include <fstream>
 #include <sstream>
 
-#include <dynamic-graph/dynamic-graph-api.h>
-#include <dynamic-graph/fwd.hh>
-
 #ifndef VP_DEBUG_MODE
 #define VP_DEBUG_MODE 0
-#endif //! VP_DEBUG_MODE
+#endif  //! VP_DEBUG_MODE
 
 #ifndef VP_TEMPLATE_DEBUG_MODE
 #define VP_TEMPLATE_DEBUG_MODE 0
-#endif //! VP_TEMPLATE_DEBUG_MODE
-
-#define DG_COMMON_TRACES                                                       \
-  do {                                                                         \
-    va_list arg;                                                               \
-    va_start(arg, format);                                                     \
-    vsnprintf(charbuffer, SIZE, format, arg);                                  \
-    va_end(arg);                                                               \
-    outputbuffer << tmpbuffer.str() << charbuffer << std::endl;                \
+#endif  //! VP_TEMPLATE_DEBUG_MODE
+
+#define DG_COMMON_TRACES                                        \
+  do {                                                          \
+    va_list arg;                                                \
+    va_start(arg, format);                                      \
+    vsnprintf(charbuffer, SIZE, format, arg);                   \
+    va_end(arg);                                                \
+    outputbuffer << tmpbuffer.str() << charbuffer << std::endl; \
   } while (0)
 
 namespace dynamicgraph {
@@ -38,7 +38,7 @@ namespace dynamicgraph {
 /// This class should never be used directly, please use the
 /// debugging macro instead.
 class DYNAMIC_GRAPH_DLLAPI DebugTrace {
-public:
+ public:
   static const int SIZE = 512;
 
   std::stringstream tmpbuffer;
@@ -50,8 +50,7 @@ public:
   DebugTrace(std::ostream &os) : outputbuffer(os) {}
 
   inline void trace(const int level, const char *format, ...) {
-    if (level <= traceLevel)
-      DG_COMMON_TRACES;
+    if (level <= traceLevel) DG_COMMON_TRACES;
     tmpbuffer.str("");
   }
 
@@ -68,8 +67,7 @@ public:
   }
 
   inline void traceTemplate(const int level, const char *format, ...) {
-    if (level <= traceLevelTemplate)
-      DG_COMMON_TRACES;
+    if (level <= traceLevelTemplate) DG_COMMON_TRACES;
     tmpbuffer.str("");
   }
 
@@ -92,57 +90,57 @@ public:
 
 DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgDEBUGFLOW;
 DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgERRORFLOW;
-} // end of namespace dynamicgraph
+}  // end of namespace dynamicgraph
 
 #ifdef VP_DEBUG
 
 #define dgPREDEBUG __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
-#define dgPREERROR                                                             \
+#define dgPREERROR \
   "\t!! " << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
 
-#define dgDEBUG(level)                                                         \
-  if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good()))           \
-    ;                                                                          \
-  else                                                                         \
+#define dgDEBUG(level)                                               \
+  if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
+    ;                                                                \
+  else                                                               \
     dgDEBUGFLOW.outputbuffer << dgPREDEBUG
 
-#define dgDEBUGMUTE(level)                                                     \
-  if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good()))           \
-    ;                                                                          \
-  else                                                                         \
+#define dgDEBUGMUTE(level)                                           \
+  if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
+    ;                                                                \
+  else                                                               \
     dgDEBUGFLOW.outputbuffer
 
-#define dgERROR                                                                \
-  if (!dgDEBUGFLOW.outputbuffer.good())                                        \
-    ;                                                                          \
-  else                                                                         \
+#define dgERROR                         \
+  if (!dgDEBUGFLOW.outputbuffer.good()) \
+    ;                                   \
+  else                                  \
     dgERRORFLOW.outputbuffer << dgPREERROR
 
-#define dgDEBUGF                                                               \
-  if (!dgDEBUGFLOW.outputbuffer.good())                                        \
-    ;                                                                          \
-  else                                                                         \
+#define dgDEBUGF                        \
+  if (!dgDEBUGFLOW.outputbuffer.good()) \
+    ;                                   \
+  else                                  \
     dgDEBUGFLOW.pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_DEBUG_MODE).trace
 
-#define dgERRORF                                                               \
-  if (!dgDEBUGFLOW.outputbuffer.good())                                        \
-    ;                                                                          \
-  else                                                                         \
+#define dgERRORF                        \
+  if (!dgDEBUGFLOW.outputbuffer.good()) \
+    ;                                   \
+  else                                  \
     dgERRORFLOW.pre(dgERRORFLOW.tmpbuffer << dgPREERROR).trace
 
 // TEMPLATE
-#define dgTDEBUG(level)                                                        \
-  if ((level > VP_TEMPLATE_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good()))  \
-    ;                                                                          \
-  else                                                                         \
+#define dgTDEBUG(level)                                                       \
+  if ((level > VP_TEMPLATE_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
+    ;                                                                         \
+  else                                                                        \
     dgDEBUGFLOW.outputbuffer << dgPREDEBUG
 
-#define dgTDEBUGF                                                              \
-  if (!dgDEBUGFLOW.outputbuffer.good())                                        \
-    ;                                                                          \
-  else                                                                         \
-    dgDEBUGFLOW                                                                \
-        .pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_TEMPLATE_DEBUG_MODE)      \
+#define dgTDEBUGF                                                         \
+  if (!dgDEBUGFLOW.outputbuffer.good())                                   \
+    ;                                                                     \
+  else                                                                    \
+    dgDEBUGFLOW                                                           \
+        .pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_TEMPLATE_DEBUG_MODE) \
         .trace
 
 inline bool dgDEBUG_ENABLE(const int &level) { return level <= VP_DEBUG_MODE; }
@@ -151,19 +149,19 @@ inline bool dgTDEBUG_ENABLE(const int &level) {
   return level <= VP_TEMPLATE_DEBUG_MODE;
 }
 
-#else // VP_DEBUG
+#else  // VP_DEBUG
 
-#define dgPREERROR                                                             \
+#define dgPREERROR \
   "\t!! " << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
 
-#define dgDEBUG(level)                                                         \
-  if (1)                                                                       \
-    ;                                                                          \
-  else                                                                         \
+#define dgDEBUG(level) \
+  if (1)               \
+    ;                  \
+  else                 \
     ::dynamicgraph::__null_stream()
 
-#define dgDEBUGMUTE                                                            \
-  (level) if (1);                                                              \
+#define dgDEBUGMUTE \
+  (level) if (1);   \
   else ::dynamicgraph::__null_stream()
 
 #define dgERROR dgERRORFLOW.outputbuffer << dgPREERROR
@@ -183,13 +181,13 @@ inline std::ostream &__null_stream() {
   static std::ostream os(NULL);
   return os;
 }
-} // namespace dynamicgraph
+}  // namespace dynamicgraph
 
 // TEMPLATE
-#define dgTDEBUG(level)                                                        \
-  if (1)                                                                       \
-    ;                                                                          \
-  else                                                                         \
+#define dgTDEBUG(level) \
+  if (1)                \
+    ;                   \
+  else                  \
     ::dynamicgraph::__null_stream()
 
 inline void dgTDEBUGF(const int, const char *, ...) { return; }
@@ -199,7 +197,7 @@ inline void dgTDEBUGF(const char *, ...) { return; }
 #define dgDEBUG_ENABLE(level) false
 #define dgTDEBUG_ENABLE(level) false
 
-#endif //! VP_DEBUG
+#endif  //! VP_DEBUG
 
 #define dgDEBUGIN(level) dgDEBUG(level) << "# In {" << std::endl
 
@@ -213,4 +211,4 @@ inline void dgTDEBUGF(const char *, ...) { return; }
 
 #define dgTDEBUGINOUT(level) dgTDEBUG(level) << "# In/Out { }" << std::endl
 
-#endif //! DYNAMIC_GRAPH_DEBUG_HH
+#endif  //! DYNAMIC_GRAPH_DEBUG_HH

include/dynamic-graph/dynamic-graph-api.h

@@ -6,4 +6,4 @@
 #ifndef DYNAMIC_GRAPH_API_H
 #define DYNAMIC_GRAPH_API_H
 #include <dynamic-graph/config.hh>
-#endif //! DYNAMIC_GRAPH_API_H
+#endif  //! DYNAMIC_GRAPH_API_H

include/dynamic-graph/eigen-io.h

@@ -34,8 +34,9 @@ inline std::istringstream &operator>>(std::istringstream &iss,
   unsigned int _size;
   double _dbl_val;
   char _ch;
-  boost::format fmt("Failed to enter %s as vector."
-                    " Reenter as [N](val1,val2,val3,...,valN)");
+  boost::format fmt(
+      "Failed to enter %s as vector."
+      " Reenter as [N](val1,val2,val3,...,valN)");
   fmt % iss.str();
   if (iss >> _ch && _ch != '[') {
     throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
@@ -52,8 +53,7 @@ inline std::istringstream &operator>>(std::istringstream &iss,
       else {
         for (unsigned int i = 0; i < _size; i++) {
           iss >> _dbl_val;
-          if (iss.peek() == ',' || iss.peek() == ' ')
-            iss.ignore();
+          if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
           inst(i) = _dbl_val;
         }
         if (iss >> _ch && _ch != ')')
@@ -78,17 +78,17 @@ inline std::istringstream &operator>>(std::istringstream &iss,
   unsigned int _rowsize;
   double _dbl_val;
   char _ch;
-  boost::format fmt("Failed to enter %s as matrix. Reenter as "
-                    "((val11,val12,val13,...,val1N),"
-                    "...,(valM1,valM2,...,valMN))");
+  boost::format fmt(
+      "Failed to enter %s as matrix. Reenter as "
+      "((val11,val12,val13,...,val1N),"
+      "...,(valM1,valM2,...,valMN))");
   MatrixXd _tmp_matrix;
   fmt % iss.str();
   if (iss >> _ch && _ch != '[') {
     throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
   } else {
     iss >> _rowsize;
-    if (iss.peek() == ',' || iss.peek() == ' ')
-      iss.ignore();
+    if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
     iss >> _colsize;
     if (iss.fail())
       throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
@@ -105,14 +105,12 @@ inline std::istringstream &operator>>(std::istringstream &iss,
               throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
             for (unsigned int i = 0; i < _colsize; i++) {
               iss >> _dbl_val;
-              if (iss.peek() == ',' || iss.peek() == ' ')
-                iss.ignore();
+              if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
               _tmp_matrix(j, i) = _dbl_val;
             }
             if (iss >> _ch && _ch != ')')
               throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
-            if (iss.peek() == ',' || iss.peek() == ' ')
-              iss.ignore();
+            if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
           }
           if (iss >> _ch && _ch != ')')
             throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
@@ -165,6 +163,6 @@ inline std::istringstream &operator>>(std::istringstream &iss,
   return iss;
 }
 
-} // namespace Eigen
+}  // namespace Eigen
 
-#endif // DYNAMIC_GRAPH_EIGEN_IO_H
+#endif  // DYNAMIC_GRAPH_EIGEN_IO_H

include/dynamic-graph/entity-helper.h

@@ -8,11 +8,12 @@
 
 namespace dynamicgraph {
 
-template <typename Ent> struct EntityHelper {
+template <typename Ent>
+struct EntityHelper {
   typedef Ent EntityClassName;
   // static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
 };
 
-} // namespace dynamicgraph
+}  // namespace dynamicgraph
 
-#endif // __sot_core_entity_helper_H__
+#endif  // __sot_core_entity_helper_H__

include/dynamic-graph/entity.h

@@ -5,20 +5,19 @@
 
 #ifndef DYNAMIC_GRAPH_ENTITY_H
 #define DYNAMIC_GRAPH_ENTITY_H
-#include <iosfwd>
-#include <map>
-#include <sstream>
-#include <string>
-
-#include <boost/noncopyable.hpp>
-
 #include <dynamic-graph/dynamic-graph-api.h>
 #include <dynamic-graph/exception-factory.h>
-#include <dynamic-graph/fwd.hh>
 #include <dynamic-graph/logger.h>
 #include <dynamic-graph/signal-array.h>
 #include <dynamic-graph/signal-base.h>
 
+#include <boost/noncopyable.hpp>
+#include <dynamic-graph/fwd.hh>
+#include <iosfwd>
+#include <map>
+#include <sstream>
+#include <string>
+
 /// \brief Helper macro for entity declaration.
 ///
 /// This macro should be called in the declaration of all entities.
@@ -36,9 +35,9 @@
 /// Caution: you *MUST* call DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN in the
 /// associated source file to ensure that the attributes generated by
 /// this macro are correctly initialized.
-#define DYNAMIC_GRAPH_ENTITY_DECL()                                            \
-public:                                                                        \
-  virtual const std::string &getClassName() const { return CLASS_NAME; }       \
+#define DYNAMIC_GRAPH_ENTITY_DECL()                                      \
+ public:                                                                 \
+  virtual const std::string &getClassName() const { return CLASS_NAME; } \
   static const std::string CLASS_NAME
 
 namespace dynamicgraph {
@@ -51,7 +50,7 @@ namespace dynamicgraph {
 /// computation graph.  To declare a new entity, please see the
 /// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro in factory.h.
 class DYNAMIC_GRAPH_DLLAPI Entity : private boost::noncopyable {
-public:
+ public:
   typedef std::map<std::string, SignalBase<int> *> SignalMap;
   typedef std::map<const std::string, command::Command *> CommandMap_t;
 
@@ -163,7 +162,7 @@ public:
 
   /// \}
 
-protected:
+ protected:
   void addCommand(const std::string &name, command::Command *command);
 
   void entityRegistration();
@@ -180,6 +179,6 @@ protected:
 
 DYNAMIC_GRAPH_DLLAPI std::ostream &operator<<(std::ostream &os,
                                               const dynamicgraph::Entity &ent);
-} // end of namespace dynamicgraph
+}  // end of namespace dynamicgraph
 
-#endif //! DYNAMIC_GRAPH_ENTITY_H
+#endif  //! DYNAMIC_GRAPH_ENTITY_H

include/dynamic-graph/exception-abstract.h

@@ -5,42 +5,47 @@
 
 #ifndef DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
 #define DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
-#include <string>
-
 #include <dynamic-graph/dynamic-graph-api.h>
+
 #include <dynamic-graph/fwd.hh>
+#include <string>
 
 // Uncomment this macros to have lines parameter on the throw display
 // #define DYNAMIC-GRAPH_EXCEPTION_PASSING_PARAM
 
-#define DG_RETHROW                                                             \
+#define DG_RETHROW \
   (const ::dynamicgraph::ExceptionAbstract &err) { throw err; }
 
 #ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
-#define DG_THROW                                                               \
-  throw ::dynamicgraph::ExceptionAbstract::Param(__LINE__, __FUNCTION__,       \
+#define DG_THROW                                                         \
+  throw ::dynamicgraph::ExceptionAbstract::Param(__LINE__, __FUNCTION__, \
                                                  __FILE__) +
 #else
 #define DG_THROW throw
-#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
+#endif  // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
 
 namespace dynamicgraph {
 /// \ingroup error
 ///
 /// \brief Abstract root class for all dynamic-graph exceptions.
 class DYNAMIC_GRAPH_DLLAPI ExceptionAbstract : public std::exception {
-public:
+ public:
   /// \ingroup error
   ///
   /// \brief Class owned by exceptions to store error locations.
   class Param {
-  public:
+   public:
     static const int BUFFER_SIZE = 80;
 
     Param(const int &_line, const char *_function, const char *_file);
     Param()
-        : functionPTR(), function(), line(), filePTR(), file(),
-          pointersSet(false), set(false) {}
+        : functionPTR(),
+          function(),
+          line(),
+          filePTR(),
+          file(),
+          pointersSet(false),
+          set(false) {}
     Param &initCopy(const Param &p);
 
     const char *functionPTR;
@@ -91,10 +96,10 @@ public:
   }
 
   /// \brief Print the error structure.
-  DYNAMIC_GRAPH_DLLAPI friend std::ostream &
-  operator<<(std::ostream &os, const ExceptionAbstract &err);
+  DYNAMIC_GRAPH_DLLAPI friend std::ostream &operator<<(
+      std::ostream &os, const ExceptionAbstract &err);
 
-protected:
+ protected:
   /// \brief Error code.
   /// \sa ErrorCodeEnum
   int code;
@@ -121,12 +126,12 @@ protected:
     return e;
   }
 
-#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
+#endif  // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
 
-private:
+ private:
   /// \brief Forbid the empty constructor (private).
   ExceptionAbstract();
 };
-} // end of namespace dynamicgraph
+}  // end of namespace dynamicgraph
 
-#endif //! DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
+#endif  //! DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H

include/dynamic-graph/exception-factory.h

@@ -5,18 +5,18 @@
 
 #ifndef DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
 #define DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
-#include <string>
-
 #include <dynamic-graph/dynamic-graph-api.h>
 #include <dynamic-graph/exception-abstract.h>
+
 #include <dynamic-graph/fwd.hh>
+#include <string>
 
 namespace dynamicgraph {
 /// \ingroup error
 ///
 /// \brief Generic error class.
 class DYNAMIC_GRAPH_DLLAPI ExceptionFactory : public ExceptionAbstract {
-public:
+ public:
   enum ErrorCodeEnum {
     GENERIC = ExceptionAbstract::FACTORY,
     UNREFERED_OBJECT,
@@ -44,6 +44,6 @@ public:
     return ExceptionFactory::EXCEPTION_NAME;
   }
 };
-} // end of namespace dynamicgraph
+}  // end of namespace dynamicgraph
 
-#endif //! DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
+#endif  //! DYNAMIC_GRAPH_EXCEPTION_FACTORY_H

include/dynamic-graph/exception-signal.h

@@ -8,6 +8,7 @@
 
 #include <dynamic-graph/dynamic-graph-api.h>
 #include <dynamic-graph/exception-abstract.h>
+
 #include <dynamic-graph/fwd.hh>
 
 namespace dynamicgraph {
@@ -16,7 +17,7 @@ namespace dynamicgraph {
 /// \brief Exceptions raised when an error related to signals
 /// happen.
 class DYNAMIC_GRAPH_DLLAPI ExceptionSignal : public ExceptionAbstract {
-public:
+ public:
   enum ErrorCodeEnum {
     GENERIC = ExceptionAbstract::SIGNAL,
     READWRITE_LOCK,
@@ -38,6 +39,6 @@ public:
   virtual const std::string &getExceptionName() const { return EXCEPTION_NAME; }
 };
 
-} // end of namespace dynamicgraph
+}  // end of namespace dynamicgraph
 
-#endif //! DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
+#endif  //! DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H