feat: add clang formatting check

Meow404 · Meow404 · commit 179bf1d6b18c · 2025-07-17T16:22:58.000Z
diff --git a/.cirrus.yml b/.cirrus.yml
@@ -22,16 +22,24 @@ jammy_task:
       --local_resources=cpu=8
       --remote_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
-    - genhtml --branch-coverage 
-      --output genhtml 
-      "$(bazel info output_path)/_coverage/_coverage_report.dat"
+    # - genhtml --branch-coverage
+    #   --output genhtml
+    #   "$(bazel info output_path)/_coverage/_coverage_report.dat"
+  format_script:
+    - find . 
+      -name "*.cpp" -o -name "*.hpp" -o -name "*.cxx" -o -name "*.hxx" | 
+      xargs clang-format-15 --dry-run --Werror 
+      --output-replacements-xml > replacements.xml  2>&1
   always:
     jammy_test_artifacts:
       path: "bazel-testlogs/**/test.xml"
       format: junit
     jammy_coverage_artifacts:
       path: "genhtml/index.html"
       type: text/html
+    jammy_format_artifacts:
+      path: "genhtml/index.html"
+      type: replacements.xml
 
 noble_task:
   timeout_in: 120m
@@ -56,14 +64,21 @@ noble_task:
       --local_resources=cpu=8
       --remote_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
-    - ls -aux
-    - genhtml --branch-coverage 
-      --output genhtml 
-      "bazel-out/_coverage/_coverage_report.dat"
+    # - genhtml --branch-coverage
+    #   --output genhtml
+    #   "bazel-out/_coverage/_coverage_report.dat"
+  format_script:
+    - find . 
+      -name "*.cpp" -o -name "*.hpp" -o -name "*.cxx" -o -name "*.hxx" | 
+      xargs clang-format-15 --dry-run --Werror 
+      --output-replacements-xml > replacements.xml  2>&1
   always:
     noble_test_artifacts:
       path: "bazel-testlogs/**/test.xml"
       format: junit
     noble_coverage_artifacts:
       path: "genhtml/index.html"
       type: text/html
+    noble_format_artifacts:
+      path: "genhtml/index.html"
+      type: replacements.xml
diff --git a/bindings/pyc3/c3_multibody_py.cc b/bindings/pyc3/c3_multibody_py.cc
@@ -2,9 +2,9 @@
 #include <pybind11/pybind11.h>
 
 #include "core/lcs.h"
-#include "multibody/lcs_factory_options.h"
 #include "multibody/geom_geom_collider.h"
 #include "multibody/lcs_factory.h"
+#include "multibody/lcs_factory_options.h"
 #include "multibody/multibody_utils.h"
 
 #include "drake/bindings/pydrake/common/sorted_pair_pybind.h"
diff --git a/bindings/pyc3/c3_systems_py.cc b/bindings/pyc3/c3_systems_py.cc
@@ -157,7 +157,7 @@ PYBIND11_MODULE(systems, m) {
   drake::pydrake::AddValueInstantiation<c3::LCS>(m);
   drake::pydrake::AddValueInstantiation<C3Output::C3Solution>(m);
   drake::pydrake::AddValueInstantiation<C3Output::C3Intermediates>(m);
-  
+
   py::class_<C3StatePredictionJoint>(m, "C3StatePredictionJoint")
       .def(py::init<>())
       .def_readwrite("name", &C3StatePredictionJoint::name)
diff --git a/core/c3.h b/core/c3.h
@@ -164,7 +164,8 @@ class C3 {
    * @param options The C3Options object containing configuration values.
    * @return CostMatrices The initialized cost matrices.
    */
-  static CostMatrices CreateCostMatricesFromC3Options(const C3Options& options, int N);
+  static CostMatrices CreateCostMatricesFromC3Options(const C3Options& options,
+                                                      int N);
 
   /**
    * @brief Get a vector of user defined linear constraints.
diff --git a/core/c3_miqp.h b/core/c3_miqp.h
@@ -14,7 +14,8 @@ static const double kVariableBounds = 10000;
 class C3MIQP final : public C3 {
  public:
   /// Default constructor for time-varying LCS
-  C3MIQP(const LCS& LCS, const CostMatrices& costs, const std::vector<Eigen::VectorXd>& xdesired,
+  C3MIQP(const LCS& LCS, const CostMatrices& costs,
+         const std::vector<Eigen::VectorXd>& xdesired,
          const C3Options& options);
 
   ~C3MIQP() override = default;
diff --git a/core/c3_options.h b/core/c3_options.h
@@ -3,7 +3,7 @@
 #include "drake/common/yaml/yaml_io.h"
 #include "drake/common/yaml/yaml_read_archive.h"
 
-namespace c3{
+namespace c3 {
 
 struct C3Options {
   // Hyperparameters
@@ -18,7 +18,7 @@ struct C3Options {
   int delta_option =
       1;  // 1 initializes the state value of the delta value with x0
 
-  double M = 1000;              // big M value for MIQP
+  double M = 1000;  // big M value for MIQP
 
   int admm_iter = 3;  // total number of ADMM iterations
 
@@ -144,6 +144,4 @@ inline C3Options LoadC3Options(const std::string& filename) {
   return options;
 }
 
-
-
 }  // namespace c3
diff --git a/core/c3_qp.h b/core/c3_qp.h
@@ -18,8 +18,8 @@ namespace c3 {
 class C3QP final : public C3 {
  public:
   /// Default constructor for time-varying LCS
-  C3QP(const LCS& LCS, const CostMatrices& costs, const std::vector<Eigen::VectorXd>& xdesired,
-       const C3Options& options);
+  C3QP(const LCS& LCS, const CostMatrices& costs,
+       const std::vector<Eigen::VectorXd>& xdesired, const C3Options& options);
 
   ~C3QP() override = default;
 
diff --git a/core/lcs.h b/core/lcs.h
@@ -50,7 +50,8 @@ class LCS {
    *
    * @return The state at the next timestep
    */
-  const Eigen::VectorXd Simulate(Eigen::VectorXd& x_init, Eigen::VectorXd& u) const;
+  const Eigen::VectorXd Simulate(Eigen::VectorXd& x_init,
+                                 Eigen::VectorXd& u) const;
 
   /*!
    * Accessors dynamics terms
diff --git a/core/solver_options_io.h b/core/solver_options_io.h
@@ -2,11 +2,10 @@
 
 #include "drake/solvers/solver_options.h"
 
-
 namespace c3 {
 
-using drake::solvers::SolverOptions;
 using drake::solvers::CommonSolverOption;
+using drake::solvers::SolverOptions;
 
 /*
  * Struct containing solver options loaded from a YAML.
@@ -35,7 +34,7 @@ struct SolverOptionsFromYaml {
   std::map<std::string, double> double_options;
   std::map<std::string, std::string> string_options;
 
-  template<typename Archive>
+  template <typename Archive>
   void Serialize(Archive* a) {
     a->Visit(DRAKE_NVP(print_to_console));
     a->Visit(DRAKE_NVP(log_file_name));
@@ -61,4 +60,4 @@ struct SolverOptionsFromYaml {
   }
 };
 
-}
+}  // namespace c3
diff --git a/examples/c3_example.cc b/examples/c3_example.cc
@@ -1,6 +1,6 @@
 #include <chrono>
-#include <string>
 #include <iostream>
+#include <string>
 
 #include "core/c3_miqp.h"
 
@@ -130,7 +130,6 @@ int DoMain(int argc, char* argv[]) {
     opt.AddLinearConstraint(LinIneq2, lowerbound, upperbound, stateconstraint);
   }
 
-
   /// initialize ADMM variables (delta, w)
   std::vector<VectorXd> delta(N, VectorXd::Zero(n + m + k));
   std::vector<VectorXd> w(N, VectorXd::Zero(n + m + k));
@@ -163,7 +162,6 @@ int DoMain(int argc, char* argv[]) {
       w = w_reset;
     }
 
-
     if (example == 2) {
       init_pivoting(x[i], &nd, &md, &kd, &Nd, &Ad, &Bd, &Dd, &dd, &Ed, &Fd, &Hd,
                     &cd, &Qd, &Rd, &Gd, &Ud, &x0, &xdesired, &options);
@@ -172,14 +170,12 @@ int DoMain(int argc, char* argv[]) {
       C3MIQP opt(system, cost, xdesired, options);
     }
 
-
     auto start = std::chrono::high_resolution_clock::now();
     /// calculate the input given x[i]
     opt.Solve(x[i]);
     input[i] = opt.GetInputSolution()[0];
 
-
-        auto finish = std::chrono::high_resolution_clock::now();
+    auto finish = std::chrono::high_resolution_clock::now();
     std::chrono::duration<double> elapsed = finish - start;
     std::cout << "Solve time:" << elapsed.count() << std::endl;
     total_time = total_time + elapsed.count();
@@ -188,17 +184,15 @@ int DoMain(int argc, char* argv[]) {
     x[i + 1] = system.Simulate(x[i], input[i]);
 
     /// print the state
-    //std::cout << "state: " << x[i + 1] << std::endl;
+    // std::cout << "state: " << x[i + 1] << std::endl;
   }
   std::cout << "Average time: " << total_time / (timesteps - 1) << std::endl;
   return 0;
 }
 
 }  // namespace c3
 
-int main(int argc, char* argv[]) {
-  return c3::DoMain(argc, argv);
-}
+int main(int argc, char* argv[]) { return c3::DoMain(argc, argv); }
 
 /// initialize LCS parameters for cartpole
 void init_cartpole(int* n_, int* m_, int* k_, int* N_, vector<MatrixXd>* A_,
diff --git a/multibody/multibody_utils.cc b/multibody/multibody_utils.cc
@@ -62,7 +62,6 @@ VectorX<T> GetInput(const MultibodyPlant<T>& plant, const Context<T>& context) {
   }
 }
 
-
 template <typename T>
 void SetContext(const MultibodyPlant<T>& plant,
                 const Eigen::Ref<const VectorX<T>>& state,
@@ -109,7 +108,6 @@ void SetInputsIfNew(const MultibodyPlant<T>& plant,
   }
 }
 
-
 template void SetContext(const MultibodyPlant<double>& plant,
                          const Eigen::Ref<const VectorXd>& state,
                          const Eigen::Ref<const VectorXd>&,
diff --git a/systems/framework/timestamped_vector.h b/systems/framework/timestamped_vector.h
@@ -5,10 +5,10 @@
 namespace c3 {
 namespace systems {
 
-/// TimestampedVector wraps a drake::systems::BasicVector along with a timestamp field
-/// The primary purpose of this is to pass-through a message (e.g. LCM)
-/// timestamp Uses a length N+1 drake::systems::BasicVector to store a vector of length N and a
-/// timestamp The timestamp is stored as the final element (Nth)
+/// TimestampedVector wraps a drake::systems::BasicVector along with a timestamp
+/// field The primary purpose of this is to pass-through a message (e.g. LCM)
+/// timestamp Uses a length N+1 drake::systems::BasicVector to store a vector of
+/// length N and a timestamp The timestamp is stored as the final element (Nth)
 template <typename T>
 class TimestampedVector : public drake::systems::BasicVector<T> {
  public:
@@ -100,4 +100,4 @@ class TimestampedVector : public drake::systems::BasicVector<T> {
 };
 
 }  // namespace systems
-}  // namespace dairlib
+}  // namespace c3
diff --git a/systems/lcs_factory_system.h b/systems/lcs_factory_system.h
@@ -136,7 +136,8 @@ class LCSFactorySystem : public drake::systems::LeafSystem<double> {
   int N_;         ///< Number of time steps for the LCS.
   double dt_;     ///< Time step size for the LCS.
 
-  std::unique_ptr<multibody::LCSFactory> lcs_factory_;  ///< Factory for creating LCS objects.
+  std::unique_ptr<multibody::LCSFactory>
+      lcs_factory_;  ///< Factory for creating LCS objects.
 };
 
 }  // namespace systems
diff --git a/systems/lcs_simulator.cc b/systems/lcs_simulator.cc
@@ -15,7 +15,7 @@ LCSSimulator::LCSSimulator(int n_x, int n_u, int n_lambda, int N, double dt) {
 }
 
 // Constructor using an existing LCS object
-LCSSimulator::LCSSimulator(const LCS &lcs) {
+LCSSimulator::LCSSimulator(const LCS& lcs) {
   init(lcs.num_states(), lcs.num_inputs(), lcs.num_lambdas(), lcs.N(),
        lcs.dt());
 }
@@ -49,7 +49,8 @@ void LCSSimulator::SimulateOneStep(
   if (!get_input_port_lcs().HasValue(context)) {
     throw std::runtime_error("Input port LCS [LCSSimulator] not connected");
   }
-  const auto& lcs = this->EvalAbstractInput(context, lcs_input_port_)->get_value<LCS>();
+  const auto& lcs =
+      this->EvalAbstractInput(context, lcs_input_port_)->get_value<LCS>();
 
   // Retrieve the current state and action from the input ports
   auto state = this->EvalVectorInput(context, state_input_port_)->value();
diff --git a/systems/test/c3_controller_test.cc b/systems/test/c3_controller_test.cc
@@ -45,7 +45,8 @@ std::unique_ptr<MultibodyPlant<double>> AddVisualizer(
   Parser parser(plant.get(), scene_graph);
 
   // Load the Cartpole model from an SDF file.
-  const std::string file = "systems/test/resources/cartpole_softwalls/cartpole_softwalls.sdf";
+  const std::string file =
+      "systems/test/resources/cartpole_softwalls/cartpole_softwalls.sdf";
   parser.AddModels(file);
   plant->Finalize();
 
@@ -82,7 +83,8 @@ int DoMain() {
       builder.AddSystem<LCSSimulator>(*(c3_cartpole_problem.pSystem));
 
   C3ControllerOptions options = drake::yaml::LoadYamlFile<C3ControllerOptions>(
-      "systems/test/resources/cartpole_softwalls/c3_controller_cartpole_options.yaml");
+      "systems/test/resources/cartpole_softwalls/"
+      "c3_controller_cartpole_options.yaml");
 
   // Add a ZeroOrderHold system for state updates.
   auto state_zero_order_hold =
diff --git a/systems/test/lcs_factory_system_test.cc b/systems/test/lcs_factory_system_test.cc
@@ -155,7 +155,8 @@ int RunCartpoleTest() {
   auto [plant, scene_graph] = AddMultibodyPlantSceneGraph(&builder, 0.01);
   Parser parser(&plant, &scene_graph);
   const std::string file =
-      "systems/test/resources/cartpole_softwalls/cartpole_softwalls_no_collision_walls.sdf";
+      "systems/test/resources/cartpole_softwalls/"
+      "cartpole_softwalls_no_collision_walls.sdf";
   parser.AddModels(file);
   plant.Finalize();
 

Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,8 @@ class LCS {`
`50`	`50`	`*`
`51`	`51`	`* @return The state at the next timestep`
`52`	`52`	`*/`
`53`		`- const Eigen::VectorXd Simulate(Eigen::VectorXd& x_init, Eigen::VectorXd& u) const;`
	`53`	`+ const Eigen::VectorXd Simulate(Eigen::VectorXd& x_init,`
	`54`	`+ Eigen::VectorXd& u) const;`
`54`	`55`
`55`	`56`	`/*!`
`56`	`57`	`* Accessors dynamics terms`