Merge pull request #231 from humanoid-path-planner/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/astral-sh/ruff-pre-commit
-  rev: v0.5.1
+  rev: v0.6.9
   hooks:
   - id: ruff
     args:
@@ -19,13 +19,13 @@ repos:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v18.1.8
+  rev: v19.1.1
   hooks:
   - id: clang-format
     args:
     - --style=Google
 - 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-ast

include/hpp/corbaserver/servant-base.hh

@@ -484,16 +484,17 @@ struct vectorToSeqServant {
 /// // PathVector directly inherits from Path
 /// HPP_CORBASERVER_ADD_DOWNCAST_OBJECT(PathVector, Path, 1)
 /// \endcode
-#define HPP_CORBASERVER_ADD_DOWNCAST_OBJECT(ServantType, BaseServantType, \
-                                            depth)                        \
-  struct HPP_CORE_DLLAPI __InitializerClass_##ServantType {               \
-    __InitializerClass_##ServantType() {                                  \
-      ::hpp::corbaServer::addDowncastObjects<BaseServantType>(            \
-          new ::hpp::corbaServer::ServantFactory<BaseServantType,         \
-                                                 ServantType>(depth));    \
-    }                                                                     \
-  };                                                                      \
-  HPP_CORBASERVER_DLLLOCAL __InitializerClass_##ServantType               \
+#define HPP_CORBASERVER_ADD_DOWNCAST_OBJECT(ServantType, BaseServantType,  \
+                                            depth)                         \
+  struct HPP_CORE_DLLAPI __InitializerClass_##ServantType{                 \
+      __InitializerClass_##ServantType(){                                  \
+          ::hpp::corbaServer::addDowncastObjects<BaseServantType>(         \
+              new ::hpp::corbaServer::ServantFactory<BaseServantType,      \
+                                                     ServantType>(depth)); \
+  }                                                                        \
+  }                                                                        \
+  ;                                                                        \
+  HPP_CORBASERVER_DLLLOCAL __InitializerClass_##ServantType                \
       __instance_##ServantType;
 
 #endif  // HPP_CORBASERVER_SERVANT_BASE_HH

src/problem.impl.cc

@@ -163,12 +163,9 @@ DifferentiableFunctionPtr_t buildGenericFunc(
 
   if (relative) {
     // Both joints are provided
-    return constraints::GenericTransformation<
-        PositionOrientationFlag | constraints::RelativeBit>::create(name, robot,
-                                                                    joint1,
-                                                                    joint2,
-                                                                    ref1, ref2,
-                                                                    mask);
+    return constraints::GenericTransformation < PositionOrientationFlag |
+           constraints::RelativeBit >
+               ::create(name, robot, joint1, joint2, ref1, ref2, mask);
   } else {
     return constraints::GenericTransformation<PositionOrientationFlag>::create(
         name, robot, joint2, ref2, ref1, mask);
@@ -581,10 +578,10 @@ void Problem::createTransformationConstraint(const char* constraintName,
     Transform3f ref(toTransform3f(p));
     std::string name(constraintName);
     DifferentiableFunctionPtr_t func =
-        buildGenericFunc<constraints::PositionBit |
-                         constraints::OrientationBit>(
-            problemSolver()->robot(), name, joint1Name, joint2Name, ref, Id,
-            boolSeqToVector(mask, 6));
+        buildGenericFunc < constraints::PositionBit |
+        constraints::OrientationBit > (problemSolver()->robot(), name,
+                                       joint1Name, joint2Name, ref, Id,
+                                       boolSeqToVector(mask, 6));
 
     problemSolver()->addNumericalConstraint(
         name,
@@ -606,11 +603,11 @@ void Problem::createTransformationConstraint2(const char* constraintName,
     if (!problemSolver()->robot()) throw hpp::Error("No robot loaded");
     std::string name(constraintName);
     DifferentiableFunctionPtr_t func =
-        buildGenericFunc<constraints::PositionBit |
-                         constraints::OrientationBit>(
-            problemSolver()->robot(), name, joint1Name, joint2Name,
-            toTransform3f(frame1), toTransform3f(frame2),
-            boolSeqToVector(mask, 6));
+        buildGenericFunc < constraints::PositionBit |
+        constraints::OrientationBit >
+            (problemSolver()->robot(), name, joint1Name, joint2Name,
+             toTransform3f(frame1), toTransform3f(frame2),
+             boolSeqToVector(mask, 6));
 
     problemSolver()->addNumericalConstraint(
         name,
@@ -632,12 +629,12 @@ void Problem::createTransformationR3xSO3Constraint(const char* constraintName,
     if (!problemSolver()->robot()) throw hpp::Error("No robot loaded");
     std::string name(constraintName);
     DifferentiableFunctionPtr_t func =
-        buildGenericFunc<constraints::OutputR3xSO3Bit |
-                         constraints::PositionBit |
-                         constraints::OrientationBit>(
-            problemSolver()->robot(), name, joint1Name, joint2Name,
-            toTransform3f(frame1), toTransform3f(frame2),
-            boolSeqToVector(mask, 6));
+        buildGenericFunc < constraints::OutputR3xSO3Bit |
+        constraints::PositionBit |
+        constraints::OrientationBit >
+            (problemSolver()->robot(), name, joint1Name, joint2Name,
+             toTransform3f(frame1), toTransform3f(frame2),
+             boolSeqToVector(mask, 6));
 
     problemSolver()->addNumericalConstraint(
         name,

tests/problem.py

@@ -20,7 +20,7 @@ def test_tools(self):
             assert object_ids[0] == cl.orb.object_to_string(pb)
 
             pb2 = cl.orb.string_to_object(object_ids[0])
-            assert type(pb) == type(pb2)
+            assert type(pb) is type(pb2)
             pb2.persistantStorage(False)
 
     def test_createConstraints(self):

tests/quat.py

@@ -1,6 +1,7 @@
 from math import cos, pi, sin, sqrt
 
 import numpy as np
+
 from hpp import Quaternion
 
 ok = True