diff --git a/include/mc_rtc/Schema.h b/include/mc_rtc/Schema.h
index 7b6e0d2bea..36db7392cb 100644
--- a/include/mc_rtc/Schema.h
+++ b/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,
diff --git a/include/mc_rtc/gui/Arrow.h b/include/mc_rtc/gui/Arrow.h
index 92e8f4a711..15c9f52fce 100644
--- a/include/mc_rtc/gui/Arrow.h
+++ b/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); }
diff --git a/include/mc_rtc/log/iterate_binary_log.h b/include/mc_rtc/log/iterate_binary_log.h
index 8e72ce5ae1..e47cba9c58 100644
--- a/include/mc_rtc/log/iterate_binary_log.h
+++ b/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);
},
diff --git a/include/mc_solver/utils/Update.h b/include/mc_solver/utils/Update.h
index 8003d87a4c..0d0d7df9f0 100644
--- a/include/mc_solver/utils/Update.h
+++ b/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
diff --git a/include/mc_tasks/lipm_stabilizer/StabilizerTask.h b/include/mc_tasks/lipm_stabilizer/StabilizerTask.h
index 9dad4c361f..fa3e2b82c6 100644
--- a/include/mc_tasks/lipm_stabilizer/StabilizerTask.h
+++ b/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.
diff --git a/src/mc_control/samples/Admittance/src/mc_admittance_sample_controller.cpp b/src/mc_control/samples/Admittance/src/mc_admittance_sample_controller.cpp
index 23fb381f99..bbf760d513 100644
--- a/src/mc_control/samples/Admittance/src/mc_admittance_sample_controller.cpp
+++ b/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)
diff --git a/src/mc_control/samples/ExternalForces/src/mc_external_forces_controller.cpp b/src/mc_control/samples/ExternalForces/src/mc_external_forces_controller.cpp
index 0d3bd444f3..694a99bc51 100644
--- a/src/mc_control/samples/ExternalForces/src/mc_external_forces_controller.cpp
+++ b/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)
diff --git a/src/mc_rbdyn/gui/RobotConvex.cpp b/src/mc_rbdyn/gui/RobotConvex.cpp
index fcbd400fc4..11644d8557 100644
--- a/src/mc_rbdyn/gui/RobotConvex.cpp
+++ b/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));
diff --git a/src/mc_tasks/lipm_stabilizer/StabilizerTask.cpp b/src/mc_tasks/lipm_stabilizer/StabilizerTask.cpp
index 351d41f113..f0a1a39095 100644
--- a/src/mc_tasks/lipm_stabilizer/StabilizerTask.cpp
+++ b/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
{
diff --git a/tests/controllers/TestObserverController.in.cpp b/tests/controllers/TestObserverController.in.cpp
index b87107a96b..47e50173e2 100644
--- a/tests/controllers/TestObserverController.in.cpp
+++ b/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: