style: cpp format

Author: juelg

Makefile

@@ -5,22 +5,27 @@ COMPILE_MODE = Release
 # CPP
 cppcheckformat:
 	clang-format --dry-run -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
+	clang-format --dry-run -Werror -i $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -o -name '*.h')
 
 cppformat:
 	clang-format -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
+	clang-format -Werror -i $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -o -name '*.h')
 
 cpplint: 
 	clang-tidy -p=build --warnings-as-errors='*' $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -name '*.h')
 
+# import errors
+# clang-tidy -p=build --warnings-as-errors='*' $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -name '*.h')
+
 gcccompile: 
 	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
-	cmake --build build --target _core franka
+	cmake --build build --target _core
 
 clangcompile: 
 	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
-	cmake --build build --target _core franka
+	cmake --build build --target _core
 
 # Auto generation of CPP binding stub files
 stubgen:

extensions/rcs_fr3/src/hw/FR3.h

@@ -1,11 +1,6 @@
 #ifndef RCS_FR3_H
 #define RCS_FR3_H
 
-#include "rcs/IK.h"
-#include "rcs/LinearPoseTrajInterpolator.h"
-#include "rcs/Pose.h"
-#include "rcs/Robot.h"
-#include "rcs/utils.h"
 #include <franka/robot.h>
 
 #include <cmath>
@@ -15,6 +10,12 @@
 #include <string>
 #include <thread>
 
+#include "rcs/IK.h"
+#include "rcs/LinearPoseTrajInterpolator.h"
+#include "rcs/Pose.h"
+#include "rcs/Robot.h"
+#include "rcs/utils.h"
+
 namespace rcs {
 namespace hw {
 

extensions/rcs_fr3/src/hw/FR3MotionGenerator.h

@@ -1,8 +1,6 @@
 #ifndef RCS_MOTION_GENERATOR_H
 #define RCS_MOTION_GENERATOR_H
 
-#include "rcs/Robot.h"
-#include "rcs/utils.h"
 #include <franka/control_types.h>
 #include <franka/duration.h>
 #include <franka/exception.h>
@@ -12,6 +10,9 @@
 #include <Eigen/Core>
 #include <array>
 
+#include "rcs/Robot.h"
+#include "rcs/utils.h"
+
 namespace rcs {
 namespace hw {
 

extensions/rcs_fr3/src/hw/FrankaHand.h

@@ -1,14 +1,15 @@
 #ifndef RCS_FRANKA_HAND_H
 #define RCS_FRANKA_HAND_H
 
-#include "rcs/Robot.h"
 #include <franka/gripper.h>
 
 #include <Eigen/Core>
 #include <cmath>
 #include <string>
 #include <thread>
 
+#include "rcs/Robot.h"
+
 // TODO: we need a common interface for the gripper, maybe we do use the hal
 // we need to create a robot class that has both the robot and the gripper
 

extensions/rcs_fr3/src/hw/main.cpp

@@ -1,7 +1,7 @@
-#include <rcs/IK.h>
 #include <franka/exception.h>
 #include <franka/gripper.h>
 #include <franka/robot.h>
+#include <rcs/IK.h>
 
 #include <iostream>
 #include <memory>

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -1,7 +1,3 @@
-#include "rcs/IK.h"
-#include "rcs/Pose.h"
-#include "rcs/Robot.h"
-#include "rcs/utils.h"
 #include <franka/exception.h>
 #include <hw/FR3.h>
 #include <hw/FrankaHand.h>
@@ -13,6 +9,10 @@
 
 #include <memory>
 
+#include "rcs/IK.h"
+#include "rcs/Pose.h"
+#include "rcs/Robot.h"
+#include "rcs/utils.h"
 #include "rl/mdl/UrdfFactory.h"
 
 // TODO: define exceptions
@@ -148,5 +148,4 @@ PYBIND11_MODULE(_core, m) {
       hw_except, "FrankaRealtimeException", PyExc_RuntimeError);
   py::register_exception<franka::InvalidOperationException>(
       hw_except, "FrankaInvalidOperationException", PyExc_RuntimeError);
-
 }

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -18,9 +18,9 @@
 from rcs.envs.creators import RCSHardwareEnvCreator
 from rcs.envs.sim import CollisionGuard
 from rcs.hand.tilburg_hand import TilburgHand
+from rcs_fr3 import hw
 from rcs_fr3.envs import FR3HW
 from rcs_fr3.utils import default_fr3_hw_gripper_cfg, default_fr3_hw_robot_cfg
-from rcs_fr3 import hw
 
 import rcs
 

extensions/rcs_fr3/src/rcs_fr3/desk.py

@@ -10,14 +10,13 @@
 from typing import Callable, Literal
 from urllib import parse
 
+import rcs_fr3
 import requests
 from dotenv import load_dotenv
 from rcs_fr3.utils import default_fr3_hw_gripper_cfg
-import rcs_fr3
 from requests.packages import urllib3  # type: ignore[attr-defined]
 from websockets.sync.client import connect
 
-
 _logger = logging.getLogger("desk")
 
 TOKEN_PATH = "~/.rcs/token.conf"

python/examples/fr3.py

@@ -5,8 +5,8 @@
 from rcs._core.hw import FR3Config, IKSolver
 from rcs._core.sim import CameraType
 from rcs.camera.sim import SimCameraConfig, SimCameraSet
-from rcs_fr3.desk import FCI, ContextManager, Desk, load_creds_fr3_desk
 from rcs_fr3._core import hw
+from rcs_fr3.desk import FCI, ContextManager, Desk, load_creds_fr3_desk
 
 import rcs
 from rcs import sim

src/pybind/rcs.cpp

@@ -1,7 +1,3 @@
-#include "rcs/IK.h"
-#include "rcs/Pose.h"
-#include "rcs/Robot.h"
-#include "rcs/utils.h"
 #include <pybind11/cast.h>
 #include <pybind11/eigen.h>
 #include <pybind11/operators.h>
@@ -14,6 +10,10 @@
 
 #include <memory>
 
+#include "rcs/IK.h"
+#include "rcs/Pose.h"
+#include "rcs/Robot.h"
+#include "rcs/utils.h"
 #include "rl/mdl/UrdfFactory.h"
 
 // TODO: define exceptions
@@ -305,7 +305,6 @@ PYBIND11_MODULE(_core, m) {
       .def("reset", &rcs::common::Gripper::reset,
            py::call_guard<py::gil_scoped_release>());
 
-
   // SIM MODULE
   auto sim = m.def_submodule("sim", "sim module");
   py::class_<rcs::sim::SimRobotConfig, rcs::common::RobotConfig>(