nolint where necessary

SleipnirGroup · Jun 22, 2024 · f2bddad · f2bddad
1 parent a30fe94
commit f2bddad
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Showing 3 changed files with 7 additions and 8 deletions.
diff --git a/include/trajopt/set/ManifoldIntervalSet2d.hpp b/include/trajopt/set/ManifoldIntervalSet2d.hpp
@@ -16,12 +16,12 @@ struct TRAJOPT_DLLEXPORT ManifoldIntervalSet2d {
   /// Half of the width of the valid range.
   double tolerance;
 
-    /**
+  /**
    * Construct a manifold vector bound to a particular value +- a tolerance.
    *
    * @param middle The angle at the midpoint of the valid range
-   * @param tolerance The tolerance. Must be positive. Tolerances greater than pi,
-   * (half the period) do not constrain the vector at all.
+   * @param tolerance The tolerance. Must be positive. Tolerances greater than
+   * pi, (half the period) do not constrain the vector at all.
    */
   constexpr ManifoldIntervalSet2d(double middle, double tolerance)
       : middle(middle), tolerance(tolerance) {
@@ -34,8 +34,7 @@ struct TRAJOPT_DLLEXPORT ManifoldIntervalSet2d {
    * @param angle the angle of the vector to.
    */
   constexpr ManifoldIntervalSet2d(double angle)
-      : ManifoldIntervalSet2d(angle, 0) {
-  }
+      : ManifoldIntervalSet2d(angle, 0) {}
 
   constexpr ManifoldIntervalSet2d() = default;
 };

diff --git a/src/optimization/HolonomicTrajoptUtil.hpp b/src/optimization/HolonomicTrajoptUtil.hpp
@@ -58,7 +58,7 @@ inline void ApplyHolonomicConstraint(
     auto dx = fieldPointX - x;
     auto dy = fieldPointY - y;
     auto dot = thetacos * dx + thetasin * dy;
-    problem.SubjectTo(dot >= std::cos(headingTolerance) * hypot(dx, dy));
+    problem.SubjectTo(dot >= std::cos(headingTolerance) * hypot(dx, dy)); //NOLINT
   } else if (std::holds_alternative<PointLineConstraint>(constraint)) {
     ApplyConstraint(problem, x, y, thetacos, thetasin,
                     std::get<PointLineConstraint>(constraint));

diff --git a/src/optimization/SwerveTrajoptUtil.hpp b/src/optimization/SwerveTrajoptUtil.hpp
@@ -92,8 +92,8 @@ inline void ApplyKinematicsConstraints(
           (theta_cos_n * theta_cos_n_1) - (theta_sin_n * -theta_sin_n_1);
       auto theta_diff_sin =
           (theta_cos_n * -theta_sin_n_1) + (theta_sin_n * theta_cos_n_1);
-      problem.SubjectTo(theta_diff_cos * sin(omega_n * dt_sgmt) ==
-                        theta_diff_sin * cos(omega_n * dt_sgmt));
+      problem.SubjectTo(theta_diff_cos * sin(omega_n * dt_sgmt) == //NOLINT
+                        theta_diff_sin * cos(omega_n * dt_sgmt));  //NOLINT
       problem.SubjectTo(
           theta_cos_n_1 * theta_cos_n_1 + theta_sin_n_1 * theta_sin_n_1 == 1);
       problem.SubjectTo(vx_n_1 + ax_n * dt_sgmt == vx_n);