Merge pull request #4 from jcarpent/devel

Format all

.git-blame-ignore-revs

@@ -0,0 +1,4 @@
+# pre-commit run -a (format-all, 2024-07-18)
+063302c38bb7850f0d3ce512c7ecfd726b0abacf
+# pre-commit run -a (format-all, 2024-07-24)
+47e8fd6ab01fe4cdeb669ed020571cc9d7de16c3

.gitattributes

@@ -1,3 +1,2 @@
 # GitHub syntax highlighting
 pixi.lock linguist-language=YAML
-

.github/workflows/macos-linux-windows-conda.yml

@@ -3,16 +3,16 @@ name: CI - MacOS/Linux/Windows via Pixi
 on:
   push:
     paths-ignore:
-      - '.gitignore'
+      - .gitignore
       - '*.md'
-      - 'LICENSE'
-      - '.pre-commit-config.yaml'
+      - LICENSE
+      - .pre-commit-config.yaml
   pull_request:
     paths-ignore:
-      - '.gitignore'
+      - .gitignore
       - '*.md'
-      - 'LICENSE'
-      - '.pre-commit-config.yaml'
+      - LICENSE
+      - .pre-commit-config.yaml
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
@@ -22,8 +22,8 @@ jobs:
     name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }}
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
-      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
+      CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
       CCACHE_COMPRESS: true
       CCACHE_COMPRESSLEVEL: 6
 
@@ -41,51 +41,52 @@ jobs:
             environment: clang-cl
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: recursive
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
-    - uses: actions/cache@v4
-      with:
-        path: .ccache
-        key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha }}
-        restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-
+      - uses: actions/cache@v4
+        with:
+          path: .ccache
+          key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha
+            }}
+          restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-
 
-    - uses: prefix-dev/[email protected]
-      with:
-        pixi-version: v0.24.2
-        cache: true
-        environments: ${{ matrix.environment }}
+      - uses: prefix-dev/[email protected]
+        with:
+          pixi-version: v0.24.2
+          cache: true
+          environments: ${{ matrix.environment }}
 
-    - name: Build LoIK [MacOS/Linux]
-      shell: pixi run bash -el {0}
-      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
-      env:
-        CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
-        CMAKE_BUILD_PARALLEL_LEVEL: 4
-      run: |
-        pixi run -e ${{ matrix.environment }} test
+      - name: Build LoIK [MacOS/Linux]
+        shell: pixi run bash -el {0}
+        if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
+        env:
+          CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+          CMAKE_BUILD_PARALLEL_LEVEL: 4
+        run: |
+          pixi run -e ${{ matrix.environment }} test
 
-    - name: Build LoIK [Windows]
-      shell: pixi run bash -el {0}
-      if: contains(matrix.os, 'windows')
-      env:
-        CMAKE_BUILD_TYPE: Release
-        CMAKE_BUILD_PARALLEL_LEVEL: 4
-      run: |
-        pixi run -e ${{ matrix.environment }} test
+      - name: Build LoIK [Windows]
+        shell: pixi run bash -el {0}
+        if: contains(matrix.os, 'windows')
+        env:
+          CMAKE_BUILD_TYPE: Release
+          CMAKE_BUILD_PARALLEL_LEVEL: 4
+        run: |
+          pixi run -e ${{ matrix.environment }} test
 
   check:
     if: always()
     name: check-macos-linux-windows-pixi
 
     needs:
-    - loik-pixi
+      - loik-pixi
 
     runs-on: Ubuntu-latest
 
     steps:
-    - name: Decide whether the needed jobs succeeded or failed
-      uses: re-actors/alls-green@release/v1
-      with:
-        jobs: ${{ toJSON(needs) }}
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.gitignore

@@ -4,24 +4,8 @@ Xcode*
 *.pyc
 **/.ipynb_checkpoints
 coverage*
-.travis
 .vscode*
 *.orig
 # pixi environments
 .pixi
 *.egg-info
-**/.DS_STORE
-*/.DS_STORE
-*/.idea
-*/cmake-*
-.DS_STORE
-.cache
-.clion*
-.idea
-.vscode
-__pycache__
-cmake-*
-compile_commands.json
-videos/*.mp4
-videos/*.png
-videos/src-*

.pre-commit-config.yaml

@@ -33,4 +33,4 @@ repos:
     rev: 0.2.3
     hooks:
       - id: yamlfmt
-        args: [--mapping=2, --offset=2, --sequence=4, --implicit_start]
+        args: [--mapping=2, --offset=2, --sequence=4, --implicit_start, --preserve-quotes]

CHANGELOG.md

@@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Changed
+
+- Formating of the project
+
 ## [1.0.0] - 2024-07-17
 
 ### Added

CMakeLists.txt

@@ -5,7 +5,7 @@
 cmake_minimum_required(VERSION 3.16)
 
 set(PROJECT_NAME loik)
-set(PROJECT_DESCRIPTION "TODO.")
+set(PROJECT_DESCRIPTION "Low-Order Inverse Kinematics")
 set(PROJECT_URL "https://github.com/Simple-Robotics/LoIK")
 set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
 set(PROJECT_CUSTOM_HEADER_DIR "loik")
@@ -55,7 +55,7 @@ endif()
 include(${JRL_CMAKE_MODULES}/base.cmake)
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
-set(CMAKE_VERBOSE_MAKEFILE OFF)
+set(CMAKE_VERBOSE_MAKEFILE TRUE)
 
 include(${CMAKE_CURRENT_LIST_DIR}/cmake/boost.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/cmake/ide.cmake)

README.md

@@ -1,15 +1,15 @@
 # LoIK
 
-**LoIK** is a simple yet efficient (constrained) differential inverse kinematics solver for robotics 
+**LoIK** is a simple yet efficient (constrained) differential inverse kinematics solver for robotics
 
 It is designed to function as an inner solver for various downstream applications, including global inverse kinematics and sampling-based motion planning.
 
 ## Features
 
-**LoIK** is a C++ template library, which provides
+**LoIK** is a C++ template library, which provides:
 
 * a set of efficient solvers for constrained differential inverse kinematics problems
-* support for the [pinocchio](https://github.com/stack-of-tasks/pinocchio) rigid-body dynamics library 
+* support for the [pinocchio](https://github.com/stack-of-tasks/pinocchio) rigid-body dynamics library
 * an interface to the [IKBench](https://github.com/Simple-Robotics/IKBench) inverse kinematics benchmark library which can be used to compare different IK solver performances
 * Python bindings leveraging [eigenpy](https://github.com/stack-of-tasks/eigenpy) {Next release}
 
@@ -32,7 +32,7 @@ conda install -c conda-forge loik  # or -c conda-forge
 ```bash
 git clone https://github.com/Simple-Robotics/LoIK --recursive
 cd LoIK
-mkdir build && cd build 
+mkdir build && cd build
 cmake .. -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=your_install_folder -DCMAKE_CXX_FLAGS="-march=native"
 make -jNCPUS
 make install
@@ -106,8 +106,8 @@ Please also consider citing the reference paper for the **LoIK** algorithm:
 * [Joris Vaillant](https://github.com/jorisv) (Inria): core developer
 * [Stéphane Caron](https://scaron.info/) (Inria): core developer
 * [Seth Hutchinson](https://faculty.cc.gatech.edu/~seth/) (Georgia Tech): project instructor
-* [Justin Carpentier](https://jcarpent.github.io/) (Inria): project instructor
+* [Justin Carpentier](https://jcarpent.github.io/) (Inria): project instructor and core developer
 
 ## Acknowledgments
 
-The development of **LoIK** is actively supported by the [Willow team](https://www.di.ens.fr/willow/) at [@INRIA](http://www.inria.fr) Paris.
+The development of **LoIK** is actively supported by the [Willow team](https://www.di.ens.fr/willow/) at [@INRIA](http://www.inria.fr) Paris.

include/loik/fwd.hpp

@@ -4,32 +4,38 @@
 
 #include <pinocchio/multibody/fwd.hpp>
 
-#pragma once 
-
-namespace loik {
-
-    // IkIdDataTpl
-    template<typename _Scalar, int _Options = 0, template<typename S, int O> class JointCollectionTpl = pinocchio::JointCollectionDefaultTpl>
-    struct IkIdDataTpl;
-
-    // IkIdDataTypeOptimizeTpl
-    template<typename _Scalar, int _Options = 0, template<typename S, int O> class JointCollectionTpl = pinocchio::JointCollectionDefaultTpl>
-    struct IkIdDataTypeOptimizedTpl;
-
-    // IkIdSolverBaseTpl
-    template<typename _Scalar>
-    struct IkIdSolverBaseTpl;
-
-    // FirstOrderLoikTpl
-    template<typename _Scalar>
-    struct FirstOrderLoikTpl;
-
-    // FirstOrderLoikOptimizedTpl
-    template<typename _Scalar, int _Options = 0, template<typename S, int O> class JointCollectionTpl = pinocchio::JointCollectionDefaultTpl>
-    struct FirstOrderLoikOptimizedTpl;
-
-
-
-
-
-} // namespace loik
+#pragma once
+
+namespace loik
+{
+
+  // IkIdDataTpl
+  template<
+    typename _Scalar,
+    int _Options = 0,
+    template<typename S, int O> class JointCollectionTpl = pinocchio::JointCollectionDefaultTpl>
+  struct IkIdDataTpl;
+
+  // IkIdDataTypeOptimizeTpl
+  template<
+    typename _Scalar,
+    int _Options = 0,
+    template<typename S, int O> class JointCollectionTpl = pinocchio::JointCollectionDefaultTpl>
+  struct IkIdDataTypeOptimizedTpl;
+
+  // IkIdSolverBaseTpl
+  template<typename _Scalar>
+  struct IkIdSolverBaseTpl;
+
+  // FirstOrderLoikTpl
+  template<typename _Scalar>
+  struct FirstOrderLoikTpl;
+
+  // FirstOrderLoikOptimizedTpl
+  template<
+    typename _Scalar,
+    int _Options = 0,
+    template<typename S, int O> class JointCollectionTpl = pinocchio::JointCollectionDefaultTpl>
+  struct FirstOrderLoikOptimizedTpl;
+
+} // namespace loik