Update clang-format to v14 for jammy

Author: egordon

Diff for: examples/ex01_initialize_wam.cpp

@@ -20,9 +20,8 @@
  * Shift-idle the WAM and it will again be ready to use.
  */
 
-
-#include <barrett/systems.h>
 #include <barrett/products/product_manager.h>
+#include <barrett/systems.h>
 
 // The file below defines Barrett's standard main() function (SMF). It helps you
 // initialize Barrett's products properly without having to repeat the necessary
@@ -31,11 +30,9 @@
 // wam_main() function below once the WAM is ready to start applying torques.
 #include <barrett/standard_main_function.h>
 
-
 // The root namespace for libbarrett
 using namespace barrett;
 
-
 // In this case, wam_main() is a function template. For a brief introduction to
 // C++ templates, see:
 //     http://www.devarticles.com/c/a/Cplusplus/An-Introduction-to-C-plus-Templates/
@@ -48,14 +45,13 @@ using namespace barrett;
 // version of this function where DOF = 7, and a version where DOF = 4. The SMF
 // will choose between the two versions based on what kind of robot is present
 // when the program is executed.
-template<size_t DOF>
-int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam) {
-
+template <size_t DOF>
+int wam_main(int argc, char **argv, ProductManager &pm,
+             systems::Wam<DOF> &wam) {
 
 	// The WAM is now Shift-activated and applying zero torque with a loop-rate
 	// of 500Hz.
 
-
 	// Wait for the user to press Shift-idle
 	pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
 	return 0;

Diff for: examples/ex02_hold_position.cpp

@@ -27,23 +27,20 @@
  * configuration files if your WAM is mounted in a different orientation.
  */
 
-
 #include <iostream>
 #include <string>
 
 // Eigen is the C++ math library that libbarrett uses. See:
 //     http://eigen.tuxfamily.org/dox-2.0/
 #include <Eigen/Geometry>
 
-#include <barrett/systems.h>
 #include <barrett/products/product_manager.h>
+#include <barrett/systems.h>
 
 #include <barrett/standard_main_function.h>
 
-
 using namespace barrett;
 
-
 void printMenu() {
 	printf("Commands:\n");
 	printf("  j  Hold joint positions\n");
@@ -54,8 +51,9 @@ void printMenu() {
 	printf("  q  Quit\n");
 }
 
-template<size_t DOF>
-int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam) {
+template <size_t DOF>
+int wam_main(int argc, char **argv, ProductManager &pm,
+             systems::Wam<DOF> &wam) {
 	wam.gravityCompensate();
 	printMenu();
 

Diff for: examples/ex03_simple_move.cpp

@@ -25,32 +25,29 @@
  * barrett::units as you see fit!
  */
 
-
+#include <cstdlib> // For strtod()
 #include <iostream>
 #include <string>
-#include <cstdlib>  // For strtod()
 
 // The file below provides access to the barrett::units namespace.
-#include <barrett/units.h>
-#include <barrett/systems.h>
 #include <barrett/products/product_manager.h>
+#include <barrett/systems.h>
+#include <barrett/units.h>
 
 #include <barrett/standard_main_function.h>
 
-
 using namespace barrett;
 
-
 // This function template will accept a math::Matrix with any number of rows,
 // any number of columns, and any units. In other words: it will accept any
 // barrett::units type.
-template<int R, int C, typename Units>
-bool parseDoubles(math::Matrix<R,C, Units>* dest, const std::string& str) {
-	const char* cur = str.c_str();
-	const char* next = cur;
+template <int R, int C, typename Units>
+bool parseDoubles(math::Matrix<R, C, Units> *dest, const std::string &str) {
+	const char *cur = str.c_str();
+	const char *next = cur;
 
 	for (int i = 0; i < dest->size(); ++i) {
-		(*dest)[i] = strtod(cur, (char**) &next);
+		(*dest)[i] = strtod(cur, (char **)&next);
 		if (cur == next) {
 			return false;
 		} else {
@@ -59,8 +56,8 @@ bool parseDoubles(math::Matrix<R,C, Units>* dest, const std::string& str) {
 	}
 
 	// Make sure there are no extra numbers in the string.
-	double ignore = strtod(cur, (char**) &next);
-	(void)ignore;  // Prevent unused variable warnings
+	double ignore = strtod(cur, (char **)&next);
+	(void)ignore; // Prevent unused variable warnings
 
 	if (cur != next) {
 		return false;
@@ -69,16 +66,16 @@ bool parseDoubles(math::Matrix<R,C, Units>* dest, const std::string& str) {
 	return true;
 }
 
-template<size_t DOF, int R, int C, typename Units>
-void moveToStr(systems::Wam<DOF>& wam, math::Matrix<R,C, Units>* dest,
-		const std::string& description, const std::string& str)
-{
+template <size_t DOF, int R, int C, typename Units>
+void moveToStr(systems::Wam<DOF> &wam, math::Matrix<R, C, Units> *dest,
+               const std::string &description, const std::string &str) {
 	if (parseDoubles(dest, str)) {
 		std::cout << "Moving to " << description << ": " << *dest << std::endl;
 		wam.moveTo(*dest);
 	} else {
 		printf("ERROR: Please enter exactly %ld numbers separated by "
-				"whitespace.\n", dest->size());
+		       "whitespace.\n",
+		       dest->size());
 	}
 }
 
@@ -91,18 +88,18 @@ void printMenu() {
 	printf("  q  Quit\n");
 }
 
-template<size_t DOF>
-int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam) {
+template <size_t DOF>
+int wam_main(int argc, char **argv, ProductManager &pm,
+             systems::Wam<DOF> &wam) {
 	// The macro below makes a number of typedefs that allow convenient access
 	// to commonly used barrett::units. For example, the typedefs establish
 	// "jp_type" as a synonym for "units::JointPositions<DOF>::type". This macro
 	// (along with a few others) is defined in barrett/units.h.
 	BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);
 
 	// These vectors are fixed sized, stack allocated, and zero-initialized.
-	jp_type jp;  // jp is a DOFx1 column vector of joint positions
-	cp_type cp;  // cp is a 3x1 vector representing a Cartesian position
-
+	jp_type jp; // jp is a DOFx1 column vector of joint positions
+	cp_type cp; // cp is a 3x1 vector representing a Cartesian position
 
 	wam.gravityCompensate();
 	printMenu();
@@ -123,8 +120,8 @@ int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam)
 			break;
 
 		case 'h':
-			std::cout << "Moving to home position: "
-					<< wam.getHomePosition() << std::endl;
+			std::cout << "Moving to home position: " << wam.getHomePosition()
+			          << std::endl;
 			wam.moveHome();
 			break;
 
@@ -148,7 +145,6 @@ int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam)
 		}
 	}
 
-
 	wam.idle();
 	pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
 	return 0;