Merge pull request #225 from stack-of-tasks/pre-commit-ci-update-config

[pre-commit.ci] pre-commit autoupdate

Author: nim65s

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
     autoupdate_branch: 'devel'
 repos:
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v20.1.8
+    rev: v21.1.2
     hooks:
     -   id: clang-format
         args: ['--style={BasedOnStyle: Google,SortIncludes: false}']
@@ -24,8 +24,8 @@ repos:
     -   id: fix-byte-order-marker
     -   id: mixed-line-ending
     -   id: trailing-whitespace
--   repo: https://github.com/psf/black
-    rev: 25.1.0
+-   repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 25.9.0
     hooks:
     -   id: black
 -   repo: https://github.com/PyCQA/flake8

include/sot/core/abstract-sot-external-interface.hh

@@ -27,13 +27,13 @@ class SOT_CORE_EXPORT NamedVector {
   NamedVector() {}
   ~NamedVector() {}
 
-  const std::string &getName() const { return name_; }
+  const std::string& getName() const { return name_; }
 
-  void setName(const std::string &aname) { name_ = aname; }
+  void setName(const std::string& aname) { name_ = aname; }
 
-  const std::vector<double> &getValues() const { return values_; }
+  const std::vector<double>& getValues() const { return values_; }
 
-  void setValues(const std::vector<double> &values) { values_ = values; }
+  void setValues(const std::vector<double>& values) { values_ = values; }
 };
 typedef NamedVector SensorValues;
 typedef NamedVector ControlValues;
@@ -45,31 +45,31 @@ class SOT_CORE_EXPORT AbstractSotExternalInterface {
   virtual ~AbstractSotExternalInterface() {}
 
   virtual void setupSetSensors(
-      std::map<std::string, SensorValues> &sensorsIn) = 0;
+      std::map<std::string, SensorValues>& sensorsIn) = 0;
 
   virtual void nominalSetSensors(
-      std::map<std::string, SensorValues> &sensorsIn) = 0;
+      std::map<std::string, SensorValues>& sensorsIn) = 0;
 
   virtual void cleanupSetSensors(
-      std::map<std::string, SensorValues> &sensorsIn) = 0;
+      std::map<std::string, SensorValues>& sensorsIn) = 0;
 
   // Get control vector
   // \param map map string to vector of doubles. This method is expected to
   //        fill in entry "control"
   // \param period time since last call.
-  virtual void getControl(std::map<std::string, ControlValues> &,
-                          const double &period = 0) = 0;
+  virtual void getControl(std::map<std::string, ControlValues>&,
+                          const double& period = 0) = 0;
   virtual void setSecondOrderIntegration(void) = 0;
   virtual void setNoIntegration(void) = 0;
   // Set the number of joints that are controlled
-  virtual void setControlSize(const size_type &) = 0;
+  virtual void setControlSize(const size_type&) = 0;
 };
 }  // namespace sot
 }  // namespace dynamicgraph
 
-typedef dynamicgraph::sot::AbstractSotExternalInterface *
+typedef dynamicgraph::sot::AbstractSotExternalInterface*
 createSotExternalInterface_t();
 typedef void destroySotExternalInterface_t(
-    dynamicgraph::sot::AbstractSotExternalInterface *);
+    dynamicgraph::sot::AbstractSotExternalInterface*);
 
 #endif  // ABSTRACT_SOT_EXTERNAL_INTERFACE_HH

include/sot/core/additional-functions.hh

@@ -36,8 +36,8 @@ class AdditionalFunctions {
  public:
   AdditionalFunctions();
   ~AdditionalFunctions();
-  static void cmdFlagSet(const std::string &cmd, std::istringstream &args,
-                         std::ostream &os);
+  static void cmdFlagSet(const std::string& cmd, std::istringstream& args,
+                         std::ostream& os);
 };
 
 } /* namespace sot */

include/sot/core/admittance-control-op-point.hh

@@ -64,13 +64,13 @@ class ADMITTANCECONTROLOPPOINT_EXPORT AdmittanceControlOpPoint
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /* --- CONSTRUCTOR ---- */
-  AdmittanceControlOpPoint(const std::string &name);
+  AdmittanceControlOpPoint(const std::string& name);
   /**
    * @brief      Initialize the entity
    *
    * @param[in]  dt  Time step of the control
    */
-  void init(const double &dt);
+  void init(const double& dt);
 
   /* --- SIGNALS --- */
   /// \brief  Gain (6d) for the integration of the error on the force
@@ -104,7 +104,7 @@ class ADMITTANCECONTROLOPPOINT_EXPORT AdmittanceControlOpPoint
   void resetDq();
 
   /* --- ENTITY INHERITANCE --- */
-  virtual void display(std::ostream &os) const;
+  virtual void display(std::ostream& os) const;
 
  protected:
   /// Dimension of the force signals and of the output

include/sot/core/binary-int-to-uint.hh

@@ -40,20 +40,20 @@ namespace sot {
 class SOTBINARYINTTOUINT_EXPORT BinaryIntToUint : public dynamicgraph::Entity {
  public:
   static const std::string CLASS_NAME;
-  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
+  virtual const std::string& getClassName(void) const { return CLASS_NAME; }
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
   dynamicgraph::SignalPtr<int, sigtime_t> binaryIntSIN;
   dynamicgraph::SignalTimeDependent<unsigned, sigtime_t> binaryUintSOUT;
 
  public:
-  BinaryIntToUint(const std::string &name);
+  BinaryIntToUint(const std::string& name);
   virtual ~BinaryIntToUint() {}
 
-  virtual unsigned int &computeOutput(unsigned int &res, sigtime_t time);
+  virtual unsigned int& computeOutput(unsigned int& res, sigtime_t time);
 
-  virtual void display(std::ostream &os) const;
+  virtual void display(std::ostream& os) const;
 };
 
 } /* namespace sot */

include/sot/core/binary-op.hh

@@ -49,10 +49,10 @@ class BinaryOp : public Entity {
   static std::string getTypeIn2Name(void) { return Operator::nameTypeIn2(); }
   static std::string getTypeOutName(void) { return Operator::nameTypeOut(); }
   static const std::string CLASS_NAME;
-  virtual const std::string &getClassName() const { return CLASS_NAME; }
+  virtual const std::string& getClassName() const { return CLASS_NAME; }
   std::string getDocString() const { return op.getDocString(); }
 
-  BinaryOp(const std::string &name)
+  BinaryOp(const std::string& name)
       : Entity(name),
         SIN1(NULL, BinaryOp::CLASS_NAME + "(" + name + ")::input(" +
                        getTypeIn1Name() + ")::sin1"),
@@ -73,9 +73,9 @@ class BinaryOp : public Entity {
   SignalTimeDependent<Tout, sigtime_t> SOUT;
 
  protected:
-  Tout &computeOperation(Tout &res, sigtime_t time) {
-    const Tin1 &x1 = SIN1(time);
-    const Tin2 &x2 = SIN2(time);
+  Tout& computeOperation(Tout& res, sigtime_t time) {
+    const Tin1& x1 = SIN1(time);
+    const Tin2& x2 = SIN2(time);
     op(x1, x2, res);
     return res;
   }

include/sot/core/causal-filter.hh

@@ -54,15 +54,15 @@ class CausalFilter {
 
       xSize is
   */
-  CausalFilter(const double &timestep, const size_type &xSize,
-               const Eigen::VectorXd &filter_numerator,
-               const Eigen::VectorXd &filter_denominator);
+  CausalFilter(const double& timestep, const size_type& xSize,
+               const Eigen::VectorXd& filter_numerator,
+               const Eigen::VectorXd& filter_denominator);
 
-  void get_x_dx_ddx(const Eigen::VectorXd &base_x,
-                    Eigen::VectorXd &x_output_dx_ddx);
+  void get_x_dx_ddx(const Eigen::VectorXd& base_x,
+                    Eigen::VectorXd& x_output_dx_ddx);
 
-  void switch_filter(const Eigen::VectorXd &filter_numerator,
-                     const Eigen::VectorXd &filter_denominator);
+  void switch_filter(const Eigen::VectorXd& filter_numerator,
+                     const Eigen::VectorXd& filter_denominator);
 
  private:
   /// sampling timestep of the input signal

include/sot/core/clamp-workspace.hh

@@ -47,7 +47,7 @@ namespace sot {
 class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
  public:
   static const std::string CLASS_NAME;
-  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
+  virtual const std::string& getClassName(void) const { return CLASS_NAME; }
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
@@ -59,18 +59,18 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
   dynamicgraph::SignalTimeDependent<MatrixHomogeneous, sigtime_t> handrefSOUT;
 
  public:
-  ClampWorkspace(const std::string &name);
+  ClampWorkspace(const std::string& name);
   virtual ~ClampWorkspace(void) {}
 
   void update(sigtime_t time);
 
-  virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res,
+  virtual dynamicgraph::Matrix& computeOutput(dynamicgraph::Matrix& res,
                                               sigtime_t time);
-  virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res,
+  virtual dynamicgraph::Matrix& computeOutputBar(dynamicgraph::Matrix& res,
                                                  sigtime_t time);
-  virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, sigtime_t time);
+  virtual MatrixHomogeneous& computeRef(MatrixHomogeneous& res, sigtime_t time);
 
-  virtual void display(std::ostream &) const;
+  virtual void display(std::ostream&) const;
 
  private:
   sigtime_t timeUpdate;

include/sot/core/com-freezer.hh

@@ -45,15 +45,15 @@ namespace sot {
 class SOTCOMFREEZER_EXPORT CoMFreezer : public dynamicgraph::Entity {
  public:
   static const std::string CLASS_NAME;
-  virtual const std::string &getClassName() const { return CLASS_NAME; }
+  virtual const std::string& getClassName() const { return CLASS_NAME; }
 
  private:
   dynamicgraph::Vector m_lastCoM;
   bool m_previousPGInProcess;
   sigtime_t m_lastStopTime;
 
  public: /* --- CONSTRUCTION --- */
-  CoMFreezer(const std::string &name);
+  CoMFreezer(const std::string& name);
   virtual ~CoMFreezer(void);
 
  public: /* --- SIGNAL --- */
@@ -63,11 +63,11 @@ class SOTCOMFREEZER_EXPORT CoMFreezer : public dynamicgraph::Entity {
       freezedCoMSOUT;
 
  public: /* --- FUNCTION --- */
-  dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM,
-                                          const sigtime_t &time);
+  dynamicgraph::Vector& computeFreezedCoM(dynamicgraph::Vector& freezedCoM,
+                                          const sigtime_t& time);
 
  public: /* --- PARAMS --- */
-  virtual void display(std::ostream &os) const;
+  virtual void display(std::ostream& os) const;
 };
 
 } /* namespace sot */

include/sot/core/contiifstream.hh

@@ -42,9 +42,9 @@ class SOT_CORE_EXPORT Contiifstream {
   bool first;
 
  public: /* --- Constructor --- */
-  Contiifstream(const std::string &n = "");
+  Contiifstream(const std::string& n = "");
   ~Contiifstream(void);
-  void open(const std::string &n) {
+  void open(const std::string& n) {
     filename = n;
     cursor = 0;
   }