Add rustfmt-like clang-format

.clang-format

@@ -0,0 +1,99 @@
+# https://gist.github.com/YodaEmbedding/c2c77dc693d11f3734d78489f9a6eea4
+AccessModifierOffset: -2
+AlignAfterOpenBracket: BlockIndent    # New in v14. For earlier clang-format versions, use AlwaysBreak instead.
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: DontAlign
+AlignOperands: false
+AlignTrailingComments: false
+AllowAllArgumentsOnNextLine: false
+# AllowAllConstructorInitializersOnNextLine: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: Empty
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: All
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: AfterColon
+BreakInheritanceList: AfterColon
+BreakStringLiterals: false
+ColumnLimit: 80
+CompactNamespaces: false
+# ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 2
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+FixNamespaceComments: true
+IncludeBlocks: Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+    CaseSensitive:   false
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: BeforeHash
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: Inner
+PointerAlignment: Left
+ReferenceAlignment: Left              # New in v13. int &name  ==>  int& name
+ReflowComments: false
+SeparateDefinitionBlocks: Always      # New in v14.
+SortIncludes: true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: true
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: false
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+# SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Cpp11
+TabWidth: 2
+UseTab: Never
+
+# extras
+BreakAfterAttributes: Always           # v16. [[attribute]] ⏎ void f();
+EmptyLineAfterAccessModifier: Never    # v13.
+EmptyLineBeforeAccessModifier: Always  # v12.
+InsertBraces: true                     # v15. if (true) return;  ==>  if (true) { return; }
+InsertNewlineAtEOF: true               # v16.
+LineEnding: LF                         # v16.
+QualifierAlignment: Left              # v14. const int  ==>  int const
+# RemoveParentheses: Return              # v17. return(0)  ==>  return 0
+RemoveSemicolon: true                  # v16.

cpp/bindings/main.cpp

@@ -9,20 +9,23 @@ namespace nb = nanobind;
 
 NB_MODULE(_cpp, m) {
   m.def(
-      "abi_tag", []() { return nb::detail::abi_tag(); },
-      "Get the ABI tag of the current module. Useful for debugging when adding "
-      "external pipelines.");
+    "abi_tag",
+    []() { return nb::detail::abi_tag(); },
+    "Get the ABI tag of the current module. Useful for debugging when adding "
+    "external pipelines."
+  );
 
   auto m_types = m.def_submodule(
-      "types",
-      "Common types used for conversion between datasets and pipelines.");
+    "types",
+    "Common types used for conversion between datasets and pipelines."
+  );
   evalio::makeTypes(m_types);
 
-  auto m_helpers = m.def_submodule(
-      "_helpers", "Helper functions for internal evalio usage.");
+  auto m_helpers =
+    m.def_submodule("_helpers", "Helper functions for internal evalio usage.");
   evalio::makeConversions(m_helpers);
 
   auto m_pipelines = m.def_submodule("pipelines", "Pipelines used in evalio.");
   evalio::makeBasePipeline(m_pipelines);
   evalio::makePipelines(m_pipelines);
-}
+}

cpp/bindings/pipeline.h

@@ -16,69 +16,118 @@ using namespace nb::literals;
 
 namespace evalio {
 
-class PyPipeline : public evalio::Pipeline {
+class PyPipeline: public evalio::Pipeline {
 public:
   NB_TRAMPOLINE(Pipeline, 9);
 
   // Getters
-  const evalio::SE3 pose() override { NB_OVERRIDE_PURE(pose); }
-  const std::vector<evalio::Point> map() override { NB_OVERRIDE_PURE(map); }
+  evalio::SE3 const pose() override {
+    NB_OVERRIDE_PURE(pose);
+  }
+
+  const std::vector<evalio::Point> map() override {
+    NB_OVERRIDE_PURE(map);
+  }
 
   // Setters
   void set_imu_params(evalio::ImuParams params) override {
     NB_OVERRIDE_PURE(set_imu_params, params);
   }
+
   void set_lidar_params(evalio::LidarParams params) override {
     NB_OVERRIDE_PURE(set_lidar_params, params);
   }
+
   void set_imu_T_lidar(evalio::SE3 T) override {
     NB_OVERRIDE_PURE(set_imu_T_lidar, T);
   }
+
   void set_params(std::map<std::string, Param> params) override {
     NB_OVERRIDE_PURE(set_params, params);
   }
 
   // Doers
-  void initialize() override { NB_OVERRIDE_PURE(initialize); }
+  void initialize() override {
+    NB_OVERRIDE_PURE(initialize);
+  }
+
   void add_imu(evalio::ImuMeasurement mm) override {
     NB_OVERRIDE_PURE(add_imu, mm);
   }
+
   std::vector<Point> add_lidar(evalio::LidarMeasurement mm) override {
     NB_OVERRIDE_PURE(add_lidar, mm);
   }
 };
 
-inline void makeBasePipeline(nb::module_ &m) {
+inline void makeBasePipeline(nb::module_& m) {
   nb::class_<evalio::Pipeline, PyPipeline>(m, "Pipeline")
-      .def(nb::init<>(), "Construct a new pipeline.")
-      .def_static("name", &evalio::Pipeline::name, "Name of the pipeline.")
-      .def_static("default_params", &evalio::Pipeline::default_params,
-                  "Default parameters for the pipeline.")
-      .def_static("url", &evalio::Pipeline::url,
-                  "URL for more information about the pipeline.")
-      .def_static("version", &evalio::Pipeline::version,
-                  "Version of the pipeline.")
-      .def("pose", &evalio::Pipeline::pose, "Most recent pose estimate.")
-      .def("map", &evalio::Pipeline::map, "Map of the environment.")
-      .def("initialize", &evalio::Pipeline::initialize,
-           "Initialize the pipeline. Must be called after constructing the "
-           "object and before setting parameters.")
-      .def("add_imu", &evalio::Pipeline::add_imu, "mm"_a,
-           "Register an IMU measurement.")
-      .def("add_lidar", &evalio::Pipeline::add_lidar, "mm"_a,
-           "Register a LiDAR measurement.")
-      .def("set_params", &evalio::Pipeline::set_params, "params"_a,
-           "Set parameters for the pipeline. This will override any default "
-           "parameters.")
-      .def("set_imu_params", &evalio::Pipeline::set_imu_params, "params"_a,
-           "Set IMU parameters for the pipeline.")
-      .def("set_lidar_params", &evalio::Pipeline::set_lidar_params, "params"_a,
-           "Set LiDAR parameters for the pipeline.")
-      .def("set_imu_T_lidar", &evalio::Pipeline::set_imu_T_lidar, "T"_a,
-           "Set the transformation from IMU to LiDAR frame.")
-      .doc() = "Base class for all pipelines. This class defines the interface "
-               "for interacting with pipelines, and is intended to be "
-               "subclassed by specific implementations.";
+    .def(nb::init<>(), "Construct a new pipeline.")
+    .def_static("name", &evalio::Pipeline::name, "Name of the pipeline.")
+    .def_static(
+      "default_params",
+      &evalio::Pipeline::default_params,
+      "Default parameters for the pipeline."
+    )
+    .def_static(
+      "url",
+      &evalio::Pipeline::url,
+      "URL for more information about the pipeline."
+    )
+    .def_static(
+      "version",
+      &evalio::Pipeline::version,
+      "Version of the pipeline."
+    )
+    .def("pose", &evalio::Pipeline::pose, "Most recent pose estimate.")
+    .def("map", &evalio::Pipeline::map, "Map of the environment.")
+    .def(
+      "initialize",
+      &evalio::Pipeline::initialize,
+      "Initialize the pipeline. Must be called after constructing the "
+      "object and before setting parameters."
+    )
+    .def(
+      "add_imu",
+      &evalio::Pipeline::add_imu,
+      "mm"_a,
+      "Register an IMU measurement."
+    )
+    .def(
+      "add_lidar",
+      &evalio::Pipeline::add_lidar,
+      "mm"_a,
+      "Register a LiDAR measurement."
+    )
+    .def(
+      "set_params",
+      &evalio::Pipeline::set_params,
+      "params"_a,
+      "Set parameters for the pipeline. This will override any default "
+      "parameters."
+    )
+    .def(
+      "set_imu_params",
+      &evalio::Pipeline::set_imu_params,
+      "params"_a,
+      "Set IMU parameters for the pipeline."
+    )
+    .def(
+      "set_lidar_params",
+      &evalio::Pipeline::set_lidar_params,
+      "params"_a,
+      "Set LiDAR parameters for the pipeline."
+    )
+    .def(
+      "set_imu_T_lidar",
+      &evalio::Pipeline::set_imu_T_lidar,
+      "T"_a,
+      "Set the transformation from IMU to LiDAR frame."
+    )
+    .doc() =
+    "Base class for all pipelines. This class defines the interface "
+    "for interacting with pipelines, and is intended to be "
+    "subclassed by specific implementations.";
 }
 
-} // namespace evalio
+} // namespace evalio

cpp/bindings/pipelines/bindings.h

@@ -8,40 +8,40 @@ namespace nb = nanobind;
 using namespace nb::literals;
 
 #ifdef EVALIO_KISS_ICP
-#include "bindings/pipelines/kiss_icp.h"
+  #include "bindings/pipelines/kiss_icp.h"
 #endif
 
 #ifdef EVALIO_LIO_SAM
-#include "bindings/pipelines/lio_sam.h"
+  #include "bindings/pipelines/lio_sam.h"
 #endif
 
 namespace evalio {
-inline void makePipelines(nb::module_ &m) {
+inline void makePipelines(nb::module_& m) {
   // List all the pipelines here
 #ifdef EVALIO_KISS_ICP
   nb::class_<KissICP, evalio::Pipeline>(m, "KissICP")
-      .def(nb::init<>())
-      .def_static("name", &KissICP::name)
-      .def_static("default_params", &KissICP::default_params)
-      .def_static("url", &KissICP::url)
-      .def_static("version", &KissICP::version)
-      .doc() =
-      "KissICP LiDAR-only pipeline for point cloud registration. KissICP is "
-      "designed to be simple and easy to use, while still providing good "
-      "performance with minimal parameter tuning required across datasets.";
+    .def(nb::init<>())
+    .def_static("name", &KissICP::name)
+    .def_static("default_params", &KissICP::default_params)
+    .def_static("url", &KissICP::url)
+    .def_static("version", &KissICP::version)
+    .doc() =
+    "KissICP LiDAR-only pipeline for point cloud registration. KissICP is "
+    "designed to be simple and easy to use, while still providing good "
+    "performance with minimal parameter tuning required across datasets.";
 #endif
 
 #ifdef EVALIO_LIO_SAM
   nb::class_<LioSam, evalio::Pipeline>(m, "LioSAM")
-      .def(nb::init<>())
-      .def_static("name", &LioSam::name)
-      .def_static("default_params", &LioSam::default_params)
-      .def_static("url", &LioSam::url)
-      .def_static("version", &LioSam::version)
-      .doc() =
-      "Lidar-Inertial Smoothing and Mapping (LioSAM) pipeline. LioSAM is an "
-      "extension of LOAM (=> uses planar and edge features) that additionally "
-      "utilizes an IMU for initializing ICP steps and for dewarping points";
+    .def(nb::init<>())
+    .def_static("name", &LioSam::name)
+    .def_static("default_params", &LioSam::default_params)
+    .def_static("url", &LioSam::url)
+    .def_static("version", &LioSam::version)
+    .doc() =
+    "Lidar-Inertial Smoothing and Mapping (LioSAM) pipeline. LioSAM is an "
+    "extension of LOAM (=> uses planar and edge features) that additionally "
+    "utilizes an IMU for initializing ICP steps and for dewarping points";
 #endif
 }
-} // namespace evalio
+} // namespace evalio