run clangformat

Author: Davide Faconti

.clang-format

@@ -15,7 +15,7 @@ BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
 BinPackParameters: true
-ColumnLimit:    120
+ColumnLimit:    100
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true

examples/broken_sequence.cpp

@@ -4,7 +4,6 @@
 
 using namespace BT;
 
-
 NodeStatus SayHello()
 {
     printf("hello\n");
@@ -14,8 +13,9 @@ NodeStatus SayHello()
 class ActionTestNode : public ActionNode
 {
   public:
-    ActionTestNode(const std::string& name): ActionNode(name)
-    { }
+    ActionTestNode(const std::string& name) : ActionNode(name)
+    {
+    }
 
     NodeStatus tick() override
     {
@@ -35,7 +35,6 @@ class ActionTestNode : public ActionNode
         setStatus(NodeStatus::IDLE);
     }
 
-
   private:
     int time_;
     std::atomic_bool stop_loop_;
@@ -44,7 +43,7 @@ class ActionTestNode : public ActionNode
 int main()
 {
     BT::SequenceNode root("root");
-    BT::SimpleActionNode action1("say_hello", std::bind(SayHello) );
+    BT::SimpleActionNode action1("say_hello", std::bind(SayHello));
     ActionTestNode action2("async_action");
 
     root.addChild(&action1);
@@ -54,16 +53,14 @@ int main()
 
     NodeStatus status = NodeStatus::RUNNING;
 
-    while( status == NodeStatus::RUNNING)
+    while (status == NodeStatus::RUNNING)
     {
         status = root.executeTick();
 
-        std::cout << count++ << " : " <<
-                     root.status() << " / " <<
-                     action1.status() << " / " <<
-                     action2.status() << std::endl;
+        std::cout << count++ << " : " << root.status() << " / " << action1.status() << " / "
+                  << action2.status() << std::endl;
 
-        std::this_thread::sleep_for( std::chrono::milliseconds(100));
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 
     haltAllActions(&root);
@@ -87,6 +84,3 @@ hello
 5 : SUCCESS / IDLE / IDLE
 
 */
-
-
-

examples/t01_programmatic_tree.cpp

@@ -21,11 +21,11 @@ int main()
 
     // Function pointers can be wrapped inside ActionNodeBase
     // using the SimpleActionNode
-    SimpleActionNode say_hello("action_hello", std::bind(SayHello) );
+    SimpleActionNode say_hello("action_hello", std::bind(SayHello));
 
     // SimpleActionNode works also with class methods, using std::bind
-    SimpleActionNode open_gripper("open_gripper",   std::bind( &GripperInterface::open,  &gripper) );
-    SimpleActionNode close_gripper("close_gripper", std::bind( &GripperInterface::close, &gripper) );
+    SimpleActionNode open_gripper("open_gripper", std::bind(&GripperInterface::open, &gripper));
+    SimpleActionNode close_gripper("close_gripper", std::bind(&GripperInterface::close, &gripper));
 
     // To be able to use ALL the functionalities of a TreeNode,
     //  your should create a class that inherits from either:

examples/t02_factory_tree.cpp

@@ -48,13 +48,13 @@ int main()
 
     using namespace DummyNodes;
 
-    factory.registerSimpleAction("SayHello", std::bind(SayHello) );
-    factory.registerSimpleCondition("CheckBattery", std::bind(CheckBattery) );
-    factory.registerSimpleCondition("CheckTemperature", std::bind(CheckTemperature) );
+    factory.registerSimpleAction("SayHello", std::bind(SayHello));
+    factory.registerSimpleCondition("CheckBattery", std::bind(CheckBattery));
+    factory.registerSimpleCondition("CheckTemperature", std::bind(CheckTemperature));
 
     GripperInterface gripper;
-    factory.registerSimpleAction("OpenGripper", std::bind( &GripperInterface::open, &gripper));
-    factory.registerSimpleAction("CloseGripper", std::bind( &GripperInterface::close, &gripper));
+    factory.registerSimpleAction("OpenGripper", std::bind(&GripperInterface::open, &gripper));
+    factory.registerSimpleAction("CloseGripper", std::bind(&GripperInterface::close, &gripper));
 
     factory.registerNodeType<ApproachObject>("ApproachObject");
 

examples/t03_sequence_star.cpp

@@ -13,7 +13,6 @@ using namespace BT;
  *    its own thread).
 */
 
-
 // clang-format off
 
 const std::string xml_text_sequence = R"(
@@ -54,16 +53,17 @@ const std::string xml_text_sequence_star = R"(
 
 void Assert(bool condition)
 {
-    if( !condition ) throw std::runtime_error("this is not what I expected");
+    if (!condition)
+        throw std::runtime_error("this is not what I expected");
 }
 
 int main()
 {
     using namespace DummyNodes;
 
     BehaviorTreeFactory factory;
-    factory.registerSimpleCondition("TemperatureOK", std::bind( CheckBattery ));
-    factory.registerSimpleCondition("BatteryOK", std::bind( CheckTemperature ));
+    factory.registerSimpleCondition("TemperatureOK", std::bind(CheckBattery));
+    factory.registerSimpleCondition("BatteryOK", std::bind(CheckTemperature));
     factory.registerNodeType<MoveBaseAction>("MoveBase");
     factory.registerNodeType<SaySomething>("SaySomething");
 
@@ -74,7 +74,7 @@ int main()
     //  1) When Sequence is used, BatteryOK and TempearaturOK is executed at each tick()
     //  2) When SequenceStar is used, those ConditionNodes are executed only once.
 
-    for(auto& xml_text: {xml_text_sequence, xml_text_sequence_star})
+    for (auto& xml_text : {xml_text_sequence, xml_text_sequence_star})
     {
         std::cout << "\n------------ BUILDING A NEW TREE ------------" << std::endl;
 
@@ -84,17 +84,17 @@ int main()
 
         std::cout << "\n--- 1st executeTick() ---" << std::endl;
         status = tree.root_node->executeTick();
-        Assert( status == NodeStatus::RUNNING);
+        Assert(status == NodeStatus::RUNNING);
 
         SleepMS(150);
         std::cout << "\n--- 2nd executeTick() ---" << std::endl;
         status = tree.root_node->executeTick();
-        Assert( status == NodeStatus::RUNNING);
+        Assert(status == NodeStatus::RUNNING);
 
         SleepMS(150);
         std::cout << "\n--- 3rd executeTick() ---" << std::endl;
         status = tree.root_node->executeTick();
-        Assert( status == NodeStatus::SUCCESS);
+        Assert(status == NodeStatus::SUCCESS);
 
         std::cout << std::endl;
     }
@@ -138,4 +138,3 @@ Robot says: "mission started..."
 Robot says: "mission completed!"
 
 */
-

examples/t04_blackboard.cpp

@@ -41,16 +41,17 @@ const std::string xml_text = R"(
 // Use this function to create a SimpleActionNode that can access the blackboard
 NodeStatus CalculateGoalPose(TreeNode& self)
 {
-    const Pose2D mygoal = { 1, 2, M_PI};
+    const Pose2D mygoal = {1, 2, M_PI};
 
     // RECOMMENDED: check if the blackboard is nullptr first
-    if( self.blackboard() )
+    if (self.blackboard())
     {
         // store it in the blackboard
         self.blackboard()->set("GoalPose", mygoal);
         return NodeStatus::SUCCESS;
     }
-    else{
+    else
+    {
         return NodeStatus::FAILURE;
     }
 }
@@ -70,10 +71,10 @@ int main()
     auto tree = buildTreeFromText(factory, xml_text, blackboard);
 
     NodeStatus status = NodeStatus::RUNNING;
-    while( status == NodeStatus::RUNNING )
+    while (status == NodeStatus::RUNNING)
     {
         status = tree.root_node->executeTick();
-        SleepMS(1); // optional sleep to avoid "busy loops"
+        SleepMS(1);   // optional sleep to avoid "busy loops"
     }
     return 0;
 }

examples/t05_crossdoor.cpp

@@ -60,19 +60,19 @@ int main()
     auto tree = buildTreeFromText(factory, xml_text, blackboard);
 
     // Create some loggers
-    StdCoutLogger   logger_cout(tree.root_node);
+    StdCoutLogger logger_cout(tree.root_node);
     MinitraceLogger logger_minitrace(tree.root_node, "bt_trace.json");
-    FileLogger      logger_file(tree.root_node, "bt_trace.fbl");
+    FileLogger logger_file(tree.root_node, "bt_trace.fbl");
 #ifdef ZMQ_FOUND
-    PublisherZMQ    publisher_zmq(tree.root_node);
+    PublisherZMQ publisher_zmq(tree.root_node);
 #endif
-    
+
     // Keep on ticking until you get either a SUCCESS or FAILURE state
     NodeStatus status = NodeStatus::RUNNING;
-    while( status == NodeStatus::RUNNING )
+    while (status == NodeStatus::RUNNING)
     {
         status = tree.root_node->executeTick();
-        CrossDoor::SleepMS(1); // optional sleep to avoid "busy loops"
+        CrossDoor::SleepMS(1);   // optional sleep to avoid "busy loops"
     }
     return 0;
 }

gtest/gtest_decorator.cpp

@@ -17,15 +17,12 @@
 
 using BT::NodeStatus;
 
-
 struct DeadlineTest : testing::Test
 {
     BT::TimeoutNode root;
     BT::AsyncActionTest action;
 
-    DeadlineTest()
-      : root("deadline", 250)
-      , action("action")
+    DeadlineTest() : root("deadline", 250), action("action")
     {
         root.setChild(&action);
     }
@@ -35,7 +32,6 @@ struct DeadlineTest : testing::Test
     }
 };
 
-
 /****************TESTS START HERE***************************/
 
 TEST_F(DeadlineTest, DeadlineTriggeredTest)
@@ -67,4 +63,3 @@ TEST_F(DeadlineTest, DeadlineNotTriggeredTest)
     ASSERT_EQ(NodeStatus::IDLE, action.status());
     ASSERT_EQ(NodeStatus::SUCCESS, state);
 }
-

gtest/gtest_factory.cpp

@@ -155,7 +155,7 @@ TEST(BehaviorTreeFactory, Subtree)
 
     std::vector<BT::TreeNode::Ptr> nodes;
 
-    BT::TreeNode::Ptr root_node = parser.instantiateTree( nodes);
+    BT::TreeNode::Ptr root_node = parser.instantiateTree(nodes);
     BT::printTreeRecursively(root_node.get());
 
     ASSERT_EQ(root_node->name(), "root_selector");

gtest/gtest_fallback.cpp

@@ -17,7 +17,6 @@
 
 using BT::NodeStatus;
 
-
 struct SimpleFallbackTest : testing::Test
 {
     BT::FallbackNode root;
@@ -64,7 +63,6 @@ struct ComplexFallbackTest : testing::Test
     }
 };
 
-
 struct SimpleFallbackWithMemoryTest : testing::Test
 {
     BT::FallbackStarNode root;
@@ -197,7 +195,6 @@ TEST_F(ComplexFallbackTest, Condition2ToTrue)
     ASSERT_EQ(NodeStatus::IDLE, action_1.status());
 }
 
-
 TEST_F(SimpleFallbackWithMemoryTest, ConditionFalse)
 {
     condition.setBoolean(false);
@@ -324,5 +321,3 @@ TEST_F(ComplexFallbackWithMemoryTest, Action1Failed)
     ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
     ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
 }
-
-