[pre-commit.ci] pre-commit autoupdate

.pre-commit-config.yaml

@@ -4,14 +4,14 @@ ci:
   autoupdate_schedule: quarterly
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.8
+    rev: v19.1.1
     hooks:
       - id: clang-format
         types_or: []
         types: [text]
         files: \.(cpp|cxx|c|h|hpp|hxx|txx)$
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -27,7 +27,7 @@ repos:
               doc/doxygen-awesome.*
           )$
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.6.2
+    rev: v0.6.9
     hooks:
       - id: ruff
       - id: ruff-format

bindings/python/algorithm/expose-com.cpp

@@ -101,21 +101,23 @@ namespace pinocchio
 
       bp::def(
         "computeTotalMass",
-        (Scalar(*)(const context::Model &))
-          & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
+        (Scalar(*)(
+          const context::Model &))&computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model"), "Compute the total mass of the model and return it.");
 
       bp::def(
         "computeTotalMass",
-        (Scalar(*)(const context::Model &, context::Data &))
-          & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
+        (Scalar(*)(
+          const context::Model &,
+          context::Data &))&computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data"),
         "Compute the total mass of the model, put it in data.mass[0] and return it.");
 
       bp::def(
         "computeSubtreeMasses",
-        (void (*)(const context::Model &, context::Data &))
-          & computeSubtreeMasses<Scalar, Options, JointCollectionDefaultTpl>,
+        (void (*)(
+          const context::Model &,
+          context::Data &))&computeSubtreeMasses<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data"),
         "Compute the mass of each kinematic subtree and store it in the vector data.mass.");
 

bindings/python/algorithm/expose-frames.cpp

@@ -235,8 +235,7 @@ namespace pinocchio
         "computeFrameJacobian",
         (context::Data::Matrix6x(*)(
           const context::Model &, context::Data &, const context::VectorXs &,
-          context::Data::FrameIndex, ReferenceFrame))
-          & compute_frame_jacobian_proxy,
+          context::Data::FrameIndex, ReferenceFrame))&compute_frame_jacobian_proxy,
         bp::args("model", "data", "q", "frame_id", "reference_frame"),
         "Computes the Jacobian of the frame given by its frame_id in the coordinate system "
         "given by reference_frame.\n");
@@ -245,8 +244,7 @@ namespace pinocchio
         "computeFrameJacobian",
         (context::Data::Matrix6x(*)(
           const context::Model &, context::Data &, const context::VectorXs &,
-          context::Data::FrameIndex))
-          & compute_frame_jacobian_proxy,
+          context::Data::FrameIndex))&compute_frame_jacobian_proxy,
         bp::args("model", "data", "q", "frame_id"),
         "Computes the Jacobian of the frame given by its frame_id.\n"
         "The columns of the Jacobian are expressed in the coordinates system of the Frame itself.\n"

bindings/python/algorithm/expose-kinematic-regressor.cpp

@@ -22,8 +22,8 @@ namespace pinocchio
         "computeJointKinematicRegressor",
         (context::Data::Matrix6x(*)(
           const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame,
-          const context::SE3 &))
-          & computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
+          const context::
+            SE3 &))&computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data", "joint_id", "reference_frame", "placement"),
         "Computes the kinematic regressor that links the joint placements variations of the whole "
         "kinematic tree to the placement variation of the frame rigidly attached to the joint and "
@@ -39,8 +39,8 @@ namespace pinocchio
       bp::def(
         "computeJointKinematicRegressor",
         (context::Data::Matrix6x(*)(
-          const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame))
-          & computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
+          const context::Model &, const context::Data &, const JointIndex,
+          const ReferenceFrame))&computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data", "joint_id", "reference_frame"),
         "Computes the kinematic regressor that links the joint placement variations of the "
         "whole kinematic tree to the placement variation of the joint given as input.\n\n"
@@ -54,8 +54,8 @@ namespace pinocchio
       bp::def(
         "computeFrameKinematicRegressor",
         (context::Data::Matrix6x(*)(
-          const context::Model &, context::Data &, const FrameIndex, const ReferenceFrame))
-          & computeFrameKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
+          const context::Model &, context::Data &, const FrameIndex,
+          const ReferenceFrame))&computeFrameKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data", "frame_id", "reference_frame"),
         "Computes the kinematic regressor that links the joint placement variations of the "
         "whole kinematic tree to the placement variation of the frame given as input.\n\n"

bindings/python/algorithm/expose-model.cpp

@@ -34,8 +34,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     bp::tuple buildReducedModel(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -57,8 +56,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     bp::tuple buildReducedModel(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -95,8 +93,9 @@ namespace pinocchio
 
       bp::def(
         "appendModel",
-        (Model(*)(const Model &, const Model &, const FrameIndex, const SE3 &))
-          & appendModel<double, 0, JointCollectionDefaultTpl>,
+        (Model(*)(
+          const Model &, const Model &, const FrameIndex,
+          const SE3 &))&appendModel<double, 0, JointCollectionDefaultTpl>,
         bp::args("modelA", "modelB", "frame_in_modelA", "aMb"),
         "Append a child model into a parent model, after a specific frame given by its index.\n\n"
         "Parameters:\n"
@@ -121,8 +120,9 @@ namespace pinocchio
       bp::def(
         "buildReducedModel",
         (Model(*)(
-          const Model &, const std::vector<JointIndex> &, const Eigen::MatrixBase<VectorXd> &))
-          & pinocchio::buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
+          const Model &, const std::vector<JointIndex> &,
+          const Eigen::MatrixBase<VectorXd> &))&pinocchio::
+          buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
         bp::args("model", "list_of_joints_to_lock", "reference_configuration"),
         "Build a reduce model from a given input model and a list of joint to lock.\n\n"
         "Parameters:\n"
@@ -135,8 +135,8 @@ namespace pinocchio
         "buildReducedModel",
         (bp::tuple(*)(
           const Model &, const GeometryModel &, const std::vector<JointIndex> &,
-          const Eigen::MatrixBase<VectorXd> &))
-          & buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
+          const Eigen::MatrixBase<
+            VectorXd> &))&buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
         bp::args("model", "geom_model", "list_of_joints_to_lock", "reference_configuration"),
         "Build a reduced model and a reduced geometry model from a given input model,"
         "an input geometry model and a list of joints to lock.\n\n"

bindings/python/collision/expose-broadphase.cpp

@@ -31,14 +31,14 @@ namespace pinocchio
       typedef BroadPhaseManagerBase<BroadPhaseManager> BaseManager;
 
       bp::def(
-        "computeCollisions", (bool (*)(BaseManager &, CollisionCallBackBase *)) & computeCollisions,
+        "computeCollisions", (bool (*)(BaseManager &, CollisionCallBackBase *))&computeCollisions,
         (bp::arg("manager"), bp::arg("callback")),
         "Determine if all collision pairs are effectively in collision or not.\n"
         "This function assumes that updateGeometryPlacements and broadphase_manager.update() "
         "have been called first.");
 
       bp::def(
-        "computeCollisions", (bool (*)(BaseManager &, const bool)) & computeCollisions,
+        "computeCollisions", (bool (*)(BaseManager &, const bool))&computeCollisions,
         (bp::arg("manager"), bp::arg("stop_at_first_collision") = false),
         "Determine if all collision pairs are effectively in collision or not.\n"
         "This function assumes that updateGeometryPlacements and broadphase_manager.update() "
@@ -48,8 +48,7 @@ namespace pinocchio
         "computeCollisions",
         (bool (*)(
           const Model &, Data &, BaseManager &, const Eigen::MatrixBase<Eigen::VectorXd> &,
-          const bool))
-          & computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
+          const bool))&computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
         (bp::arg("model"), bp::arg("data"), bp::arg("broadphase_manager"), bp::arg("q"),
          bp::arg("stop_at_first_collision") = false),
         "Compute the forward kinematics, update the geometry placements and run the "
@@ -59,8 +58,9 @@ namespace pinocchio
         "computeCollisions",
         (bool (*)(
           const Model &, Data &, BaseManager &, CollisionCallBackBase *,
-          const Eigen::MatrixBase<Eigen::VectorXd> &))
-          & computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
+          const Eigen::MatrixBase<
+            Eigen::
+              VectorXd> &))&computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
         (bp::arg("model"), bp::arg("data"), bp::arg("broadphase_manager"), bp::arg("callback"),
          bp::arg("q")),
         "Compute the forward kinematics, update the geometry placements and run the "

bindings/python/collision/expose-collision.cpp

@@ -20,8 +20,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     static std::size_t computeDistances_proxy(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -70,7 +69,7 @@ namespace pinocchio
 
       bp::def(
         "computeCollisions",
-        (bool (*)(const GeometryModel &, GeometryData &, const bool)) & computeCollisions,
+        (bool (*)(const GeometryModel &, GeometryData &, const bool))&computeCollisions,
         (bp::arg("geometry_model"), bp::arg("geometry_data"),
          bp::arg("stop_at_first_collision") = false),
         "Determine if all collision pairs are effectively in collision or not.");
@@ -92,7 +91,7 @@ namespace pinocchio
 
       bp::def(
         "computeDistances",
-        (std::size_t(*)(const GeometryModel &, GeometryData &)) & computeDistances,
+        (std::size_t (*)(const GeometryModel &, GeometryData &))&computeDistances,
         bp::args("geometry_model", "geometry_data"),
         "Compute the distance between each collision pair for a given GeometryModel and "
         "associated GeometryData.");

bindings/python/math/expose-linalg.cpp

@@ -33,8 +33,9 @@ namespace pinocchio
 #ifndef PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED
         bp::def(
           "computeLargestEigenvector",
-          (context::VectorXs(*)(const context::MatrixXs &, const int, const context::Scalar))
-            & computeLargestEigenvector<context::MatrixXs>,
+          (context::VectorXs(*)(
+            const context::MatrixXs &, const int,
+            const context::Scalar))&computeLargestEigenvector<context::MatrixXs>,
           (bp::arg("mat"), bp::arg("max_it") = 10, bp::arg("rel_tol") = 1e-8),
           "Compute the lagest eigenvector of a given matrix according to a given eigenvector "
           "estimate.");

bindings/python/spatial/expose-explog.cpp

@@ -113,8 +113,7 @@ namespace pinocchio
         " the tangent of SE(3) at Identity.");
 
       bp::def(
-        "log6",
-        (context::Motion(*)(const context::SE3 &)) & log6<context::Scalar, context::Options>,
+        "log6", (context::Motion(*)(const context::SE3 &))&log6<context::Scalar, context::Options>,
         bp::arg("M"),
         "Log: SE3 -> se3. Pseudo-inverse of exp from SE3"
         " -> { v,w in se3, ||w|| < 2pi }.");

include/pinocchio/algorithm/aba-derivatives.hpp

@@ -42,8 +42,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -90,8 +89,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -134,8 +132,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -177,8 +174,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -216,8 +212,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename MatrixType1,
     typename MatrixType2,
     typename MatrixType3>
@@ -276,8 +271,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename MatrixType1,
     typename MatrixType2,
     typename MatrixType3>