Formatted files with clang and cpplint

Author: nkhosh

mjpc/CMakeLists.txt

@@ -12,10 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-include(FetchContent)
-FetchContent_Declare(json URL https://github.com/nlohmann/json/releases/download/v3.11.3/json.tar.xz)
-FetchContent_MakeAvailable(json)
-
 add_library(threadpool STATIC)
 target_sources(
   threadpool
@@ -167,7 +163,6 @@ target_link_libraries(
   mujoco::platform_ui_adapter
   threadpool
   Threads::Threads
-  nlohmann_json::nlohmann_json
 )
 target_include_directories(libmjpc
   PUBLIC
@@ -189,7 +184,6 @@ target_link_libraries(
   mujoco::mujoco
   threadpool
   Threads::Threads
-  nlohmann_json::nlohmann_json
 )
 target_include_directories(mjpc PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
 target_compile_options(mjpc PUBLIC ${MJPC_COMPILE_OPTIONS})
@@ -214,7 +208,6 @@ target_link_libraries(
   mujoco::mujoco
   threadpool
   Threads::Threads
-  nlohmann_json::nlohmann_json
 )
 target_include_directories(libtestspeed PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
 

mjpc/tasks/humanoid/interact/contact_keyframe.cc

@@ -12,58 +12,25 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "contact_keyframe.h"
+#include "mjpc/tasks/humanoid/interact/contact_keyframe.h"
 
 namespace mjpc::humanoid {
-    void ContactPair::Reset() {
-        body1 = kNotSelectedInteract;
-        body2 = kNotSelectedInteract;
-        geom1 = kNotSelectedInteract;
-        geom2 = kNotSelectedInteract;
-        for (int i = 0; i < 3; i++) {
-            local_pos1[i] = 0.;
-            local_pos2[i] = 0.;
-        }
-    }
-
-    void ContactKeyframe::Reset() {
-        name.clear();
-        for (auto& contact_pair : contact_pairs)
-            contact_pair.Reset();
-        
-        facing_target.clear();
-        weight.clear();
-    }
-
-    void to_json(json& j, const ContactPair& contact_pair) {
-        j = json{{"body1", contact_pair.body1},
-                 {"body2", contact_pair.body2},
-                 {"geom1", contact_pair.geom1},
-                 {"geom2", contact_pair.geom2},
-                 {"local_pos1", contact_pair.local_pos1},
-                 {"local_pos2", contact_pair.local_pos2}};
-    }
-
-    void from_json(const json& j, ContactPair& contact_pair) {
-        j.at("body1").get_to(contact_pair.body1);
-        j.at("body2").get_to(contact_pair.body2);
-        j.at("geom1").get_to(contact_pair.geom1);
-        j.at("geom2").get_to(contact_pair.geom2);
-        j.at("local_pos1").get_to(contact_pair.local_pos1);
-        j.at("local_pos2").get_to(contact_pair.local_pos2);
-    }
+void ContactPair::Reset() {
+  body1 = kNotSelectedInteract;
+  body2 = kNotSelectedInteract;
+  geom1 = kNotSelectedInteract;
+  geom2 = kNotSelectedInteract;
+  for (int i = 0; i < 3; i++) {
+    local_pos1[i] = 0.;
+    local_pos2[i] = 0.;
+  }
+}
 
-    void to_json(json& j, const ContactKeyframe& keyframe) {
-        j = json{{"name", keyframe.name},
-                 {"contacts", keyframe.contact_pairs},
-                 {"facing_target", keyframe.facing_target},
-                 {"weight", keyframe.weight}};
-    }
+void ContactKeyframe::Reset() {
+  name.clear();
+  for (auto& contact_pair : contact_pairs) contact_pair.Reset();
 
-    void from_json(const json& j, ContactKeyframe& keyframe) {
-        j.at("name").get_to(keyframe.name);
-        j.at("contacts").get_to(keyframe.contact_pairs);
-        j.at("facing_target").get_to(keyframe.facing_target);
-        j.at("weight").get_to(keyframe.weight);
-    }
+  facing_target.clear();
+  weight.clear();
 }
+}  // namespace mjpc::humanoid

mjpc/tasks/humanoid/interact/contact_keyframe.h

@@ -12,13 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTACT_KEYFRAME_H
-#define CONTACT_KEYFRAME_H
+#ifndef MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_
+#define MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_
 
-#include <mujoco/mujoco.h>
+#include <map>
+#include <string>
 #include <vector>
-#include <nlohmann/json.hpp>
-using json = nlohmann::json;
+
+#include "mujoco/mujoco.h"
 
 namespace mjpc::humanoid {
 
@@ -27,44 +28,37 @@ constexpr int kNotSelectedInteract = -1;
 constexpr int kNumberOfContactPairsInteract = 5;
 
 class ContactPair {
-public:
-    int body1, body2, geom1, geom2;
-    mjtNum local_pos1[3], local_pos2[3];
+ public:
+  int body1, body2, geom1, geom2;
+  mjtNum local_pos1[3], local_pos2[3];
+
+  ContactPair()
+      : body1(kNotSelectedInteract),
+        body2(kNotSelectedInteract),
+        geom1(kNotSelectedInteract),
+        geom2(kNotSelectedInteract),
+        local_pos1{0.},
+        local_pos2{0.} {}
 
-    ContactPair() : body1(kNotSelectedInteract),
-                body2(kNotSelectedInteract),
-                geom1(kNotSelectedInteract),
-                geom2(kNotSelectedInteract),
-                local_pos1{0.},
-                local_pos2{0.} {}
-    
-    void Reset();
+  void Reset();
 };
 
 class ContactKeyframe {
-public:
-    std::string name;
-    ContactPair contact_pairs[kNumberOfContactPairsInteract]; 
+ public:
+  std::string name;
+  ContactPair contact_pairs[kNumberOfContactPairsInteract];
 
-    // the direction on the xy-plane for the torso to point towards   
-    std::vector<mjtNum> facing_target; 
-    
-    // weight of all residual terms (name -> value map)
-    std::map<std::string, mjtNum> weight;
+  // the direction on the xy-plane for the torso to point towards
+  std::vector<mjtNum> facing_target;
 
-    ContactKeyframe() : name(""),
-              contact_pairs{},
-              facing_target(),
-              weight() {}
+  // weight of all residual terms (name -> value map)
+  std::map<std::string, mjtNum> weight;
 
-    void Reset();
-};
+  ContactKeyframe() : name(""), contact_pairs{}, facing_target(), weight() {}
 
-void to_json(json& j, const ContactPair& contact_pair);
-void from_json(const json& j, ContactPair& contact_pair);
-void to_json(json& j, const ContactKeyframe& keyframe);
-void from_json(const json& j, ContactKeyframe& keyframe);
+  void Reset();
+};
 
 }  // namespace mjpc::humanoid
 
-#endif  // CONTACT_KEYFRAME_H
+#endif  // MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_