From 09377de2d6a2100c17b93249d3e86e1918ebbfe9 Mon Sep 17 00:00:00 2001
From: cont-integration <CI@iri.upc.edu>
Date: Thu, 25 Jul 2024 13:50:25 +0200
Subject: [PATCH] [skip ci] applied clang format

---
 test/gtest_factor_compass_3d.cpp             |  2 +-
 test/gtest_factor_imu_2d.cpp                 |  4 ++--
 test/gtest_factor_imu_2d_with_gravity.cpp    |  4 ++--
 test/gtest_factor_imu_3d.cpp                 |  2 +-
 test/gtest_feature_imu_3d.cpp                |  2 +-
 test/gtest_imu_2d_static_init.cpp            |  4 ++--
 test/gtest_imu_3d.cpp                        |  4 ++--
 test/gtest_imu_3d_mocap_fusion.cpp           |  4 ++--
 test/gtest_imu_3d_static_init.cpp            |  4 ++--
 test/gtest_load_imu.cpp                      |  2 +-
 test/gtest_no_load_imu.cpp                   |  2 +-
 test/gtest_processor_imu_2d.cpp              |  6 +++---
 test/gtest_processor_imu_2d_with_gravity.cpp |  2 +-
 test/gtest_processor_imu_3d.cpp              |  6 +++---
 test/gtest_processor_imu_3d_jacobians.cpp    | 12 ++++++------
 15 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/test/gtest_factor_compass_3d.cpp b/test/gtest_factor_compass_3d.cpp
index 4b3798b52..3c9692955 100644
--- a/test/gtest_factor_compass_3d.cpp
+++ b/test/gtest_factor_compass_3d.cpp
@@ -32,7 +32,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 int N_TESTS = 10;
 
diff --git a/test/gtest_factor_imu_2d.cpp b/test/gtest_factor_imu_2d.cpp
index 629df19d6..ce11155d4 100644
--- a/test/gtest_factor_imu_2d.cpp
+++ b/test/gtest_factor_imu_2d.cpp
@@ -30,8 +30,8 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
-int         N_TESTS         = 10;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
+int         N_TESTS = 10;
 
 class FactorImu2d_test : public testing::Test
 {
diff --git a/test/gtest_factor_imu_2d_with_gravity.cpp b/test/gtest_factor_imu_2d_with_gravity.cpp
index f3a3f7182..e38a75dc0 100644
--- a/test/gtest_factor_imu_2d_with_gravity.cpp
+++ b/test/gtest_factor_imu_2d_with_gravity.cpp
@@ -30,8 +30,8 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
-int         N_TESTS         = 10;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
+int         N_TESTS = 10;
 
 class FactorImu2dWithGravityTest : public testing::Test
 {
diff --git a/test/gtest_factor_imu_3d.cpp b/test/gtest_factor_imu_3d.cpp
index 3b9cc73f1..e834b96f8 100644
--- a/test/gtest_factor_imu_3d.cpp
+++ b/test/gtest_factor_imu_3d.cpp
@@ -74,7 +74,7 @@ class FactorImu_biasTest_Static_NullBias : public testing::Test
         problem = Problem::create(3);
 
         // SOLVER
-        solver  = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // IMU SENSOR & PROCESSOR
         sensor_imu = static_pointer_cast<SensorImu>(
diff --git a/test/gtest_feature_imu_3d.cpp b/test/gtest_feature_imu_3d.cpp
index 58404488a..cc91bdfff 100644
--- a/test/gtest_feature_imu_3d.cpp
+++ b/test/gtest_feature_imu_3d.cpp
@@ -35,7 +35,7 @@ using namespace Eigen;
 using std::make_shared;
 using std::static_pointer_cast;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class FeatureImu3d_test : public testing::Test
 {
diff --git a/test/gtest_imu_2d_static_init.cpp b/test/gtest_imu_2d_static_init.cpp
index c650c7687..8d4ba06f2 100644
--- a/test/gtest_imu_2d_static_init.cpp
+++ b/test/gtest_imu_2d_static_init.cpp
@@ -34,7 +34,7 @@ using namespace Eigen;
 using namespace wolf;
 using std::make_shared;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 /**
  *  SET TO TRUE  TO PRODUCE CSV FILE
@@ -78,7 +78,7 @@ class ProcessorImu2dStaticInitTest : public testing::Test
         first_frame_ = nullptr;
 
         // Create the solver
-        solver_  = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver_ = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // Set the origin
         KF0_ = problem_->applyFirstFrameOptions(t0);
diff --git a/test/gtest_imu_3d.cpp b/test/gtest_imu_3d.cpp
index 834351330..346a2a939 100644
--- a/test/gtest_imu_3d.cpp
+++ b/test/gtest_imu_3d.cpp
@@ -32,7 +32,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class Process_Factor_Imu : public testing::Test
 {
@@ -117,7 +117,7 @@ class Process_Factor_Imu : public testing::Test
         processor_imu = std::static_pointer_cast<ProcessorImu3d>(sensor_imu->getProcessorList().front());
 
         // SOLVER
-        solver  = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // Time
         t0 = 0;
diff --git a/test/gtest_imu_3d_mocap_fusion.cpp b/test/gtest_imu_3d_mocap_fusion.cpp
index c08bb70b1..2536f5add 100644
--- a/test/gtest_imu_3d_mocap_fusion.cpp
+++ b/test/gtest_imu_3d_mocap_fusion.cpp
@@ -43,7 +43,7 @@ using namespace wolf;
 
 const double dt = 0.001;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 /**
  *  SET TO TRUE  TO PRODUCE CSV FILE
@@ -108,7 +108,7 @@ class ImuMocapFusion_Test : public testing::Test
         Matrix6d cov_imu  = sensor_imu_->computeNoiseCov(VectorXd(0));
 
         // Create the solver
-        solver_  = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver_ = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // first frame
         FrameBasePtr KF1      = problem_->applyFirstFrameOptions(0);
diff --git a/test/gtest_imu_3d_static_init.cpp b/test/gtest_imu_3d_static_init.cpp
index b668948cd..6345eb8e7 100644
--- a/test/gtest_imu_3d_static_init.cpp
+++ b/test/gtest_imu_3d_static_init.cpp
@@ -34,7 +34,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 /**
  *  SET TO TRUE  TO PRODUCE CSV FILE
@@ -78,7 +78,7 @@ class ProcessorImuStaticInitTest : public testing::Test
         first_frame_ = nullptr;
 
         // Create the solver
-        solver_  = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver_ = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // Set the origin
         KF0_ = problem_->applyFirstFrameOptions(t0);
diff --git a/test/gtest_load_imu.cpp b/test/gtest_load_imu.cpp
index 5831b1e7d..f9aa15588 100644
--- a/test/gtest_load_imu.cpp
+++ b/test/gtest_load_imu.cpp
@@ -26,7 +26,7 @@ using namespace wolf;
 
 // NOTE: This test and 'gtest_no_load_imu' complements each other
 // In this test we load 'imu' and 'core' should be automatically loaded.
-// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode: 
+// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode:
 // "SensorOdom2d" for 'core'
 // "SensorImu2d" for 'imu'
 WOLF_LOAD_IMU;
diff --git a/test/gtest_no_load_imu.cpp b/test/gtest_no_load_imu.cpp
index 12332efda..4903a9c68 100644
--- a/test/gtest_no_load_imu.cpp
+++ b/test/gtest_no_load_imu.cpp
@@ -26,7 +26,7 @@ using namespace wolf;
 
 // NOTE: This test and 'gtest_load_imu' complements each other
 // In this test we load 'core' but not 'imu'
-// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode: 
+// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode:
 // "SensorOdom2d" for 'core'
 // "SensorImu2d" for 'imu'
 WOLF_LOAD_CORE;
diff --git a/test/gtest_processor_imu_2d.cpp b/test/gtest_processor_imu_2d.cpp
index 85c8070ef..bd7770190 100644
--- a/test/gtest_processor_imu_2d.cpp
+++ b/test/gtest_processor_imu_2d.cpp
@@ -33,7 +33,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class ProcessorImu2dTest : public testing::Test
 {
@@ -80,8 +80,8 @@ class ProcessorImu2dTest : public testing::Test
 TEST(ProcessorImu2d_factory, ALL)
 {
     // install
-    auto problem  = Problem::create(2);
-    auto sensor   = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_2d.yaml", {imu_dir});
+    auto problem       = Problem::create(2);
+    auto sensor        = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_2d.yaml", {imu_dir});
     auto processor_ptr = problem->installProcessor(sensor, imu_dir + "/test/yaml/processor_imu_2d.yaml", {imu_dir});
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu2d>(processor_ptr)->getMaxTimeSpan(), 2.0);
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu2d>(processor_ptr)->getMaxBuffLength(), 20000);
diff --git a/test/gtest_processor_imu_2d_with_gravity.cpp b/test/gtest_processor_imu_2d_with_gravity.cpp
index 2011e1ca3..82286efbe 100644
--- a/test/gtest_processor_imu_2d_with_gravity.cpp
+++ b/test/gtest_processor_imu_2d_with_gravity.cpp
@@ -35,7 +35,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class ProcessorImu2dTest : public testing::Test
 {
diff --git a/test/gtest_processor_imu_3d.cpp b/test/gtest_processor_imu_3d.cpp
index fe2585abc..07edca5f0 100644
--- a/test/gtest_processor_imu_3d.cpp
+++ b/test/gtest_processor_imu_3d.cpp
@@ -33,7 +33,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class ProcessorImu3dTest : public testing::Test
 {
@@ -70,8 +70,8 @@ class ProcessorImu3dTest : public testing::Test
 TEST(ProcessorImu3d_factory, ALL)
 {
     // install
-    auto problem  = Problem::create(3);
-    auto sensor   = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_3d.yaml", {imu_dir});
+    auto problem       = Problem::create(3);
+    auto sensor        = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_3d.yaml", {imu_dir});
     auto processor_ptr = problem->installProcessor(sensor, imu_dir + "/test/yaml/processor_imu_3d.yaml", {imu_dir});
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu3d>(processor_ptr)->getMaxTimeSpan(), 2.0);
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu3d>(processor_ptr)->getMaxBuffLength(), 20000);
diff --git a/test/gtest_processor_imu_3d_jacobians.cpp b/test/gtest_processor_imu_3d_jacobians.cpp
index 4a2f4e9c1..21ced7ef8 100644
--- a/test/gtest_processor_imu_3d_jacobians.cpp
+++ b/test/gtest_processor_imu_3d_jacobians.cpp
@@ -56,7 +56,7 @@ class ProcessorImu3dJacobians : public testing::Test
     struct Imu_jac_bias          bias_jac;
     struct Imu_jac_deltas        deltas_jac;
 
-    void remapJacDeltas_quat0(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat0(Imu_jac_deltas &                _jac_delta,
                               Eigen::Map<Eigen::Quaterniond> &_Dq0,
                               Eigen::Map<Eigen::Quaterniond> &_dq0)
     {
@@ -64,10 +64,10 @@ class ProcessorImu3dJacobians : public testing::Test
         new (&_dq0) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.delta0_.data() + 3);
     }
 
-    void remapJacDeltas_quat(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat(Imu_jac_deltas &                _jac_delta,
                              Eigen::Map<Eigen::Quaterniond> &_Dq,
                              Eigen::Map<Eigen::Quaterniond> &_dq,
-                             const int                      &place)
+                             const int &                     place)
     {
         assert(place < _jac_delta.Delta_noisy_vect_.size());
         new (&_Dq) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.Delta_noisy_vect_(place).data() + 3);
@@ -129,7 +129,7 @@ class ProcessorImu3dJacobians_Dq : public testing::Test
     double                       dt;
     struct Imu_jac_bias          bias_jac2;
 
-    void remapJacDeltas_quat0(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat0(Imu_jac_deltas &                _jac_delta,
                               Eigen::Map<Eigen::Quaterniond> &_Dq0,
                               Eigen::Map<Eigen::Quaterniond> &_dq0)
     {
@@ -137,10 +137,10 @@ class ProcessorImu3dJacobians_Dq : public testing::Test
         new (&_dq0) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.delta0_.data() + 3);
     }
 
-    void remapJacDeltas_quat(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat(Imu_jac_deltas &                _jac_delta,
                              Eigen::Map<Eigen::Quaterniond> &_Dq,
                              Eigen::Map<Eigen::Quaterniond> &_dq,
-                             const int                      &place)
+                             const int &                     place)
     {
         assert(place < _jac_delta.Delta_noisy_vect_.size());
         new (&_Dq) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.Delta_noisy_vect_(place).data() + 3);
-- 
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