Add clang format file

.clang-format

@@ -0,0 +1,79 @@
+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+
+# Allow us to adhere to https://google.github.io/styleguide/cppguide.html#Names_and_Order_of_Includes
+IncludeBlocks: Preserve
+SortIncludes: true
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+IncludeBlocks: Preserve
+...

src/example_behaviors/include/example_behaviors/example_add_two_ints_service_client.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <moveit_studio_behavior_interface/service_client_behavior_base.hpp>
 #include <example_interfaces/srv/add_two_ints.hpp>
+#include <moveit_studio_behavior_interface/service_client_behavior_base.hpp>
 
 using moveit_studio::behaviors::BehaviorContext;
 using moveit_studio::behaviors::ServiceClientBehaviorBase;
@@ -13,7 +13,7 @@ class ExampleAddTwoIntsServiceClient final : public ServiceClientBehaviorBase<Ad
 {
 public:
   ExampleAddTwoIntsServiceClient(const std::string& name, const BT::NodeConfiguration& config,
-                          const std::shared_ptr<BehaviorContext>& shared_resources);
+                                 const std::shared_ptr<BehaviorContext>& shared_resources);
 
   /** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */
   static BT::PortsList providedPorts();

src/example_behaviors/include/example_behaviors/example_convert_mtc_solution_to_joint_trajectory.hpp

@@ -1,18 +1,18 @@
 #pragma once
 
-#include <Eigen/Core>
 #include <behaviortree_cpp/action_node.h>
 #include <behaviortree_cpp/bt_factory.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
+#include <spdlog/spdlog.h>
+#include <yaml-cpp/yaml.h>
+#include <Eigen/Core>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit_studio_behavior/utils/trajectory_utils.hpp>
 #include <moveit_studio_behavior_interface/behavior_context.hpp>
 #include <moveit_studio_behavior_interface/check_for_error.hpp>
 #include <moveit_studio_behavior_interface/shared_resources_node.hpp>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
-#include <spdlog/spdlog.h>
 #include <trajectory_msgs/msg/joint_trajectory.hpp>
-#include <yaml-cpp/yaml.h>
 
 namespace example_behaviors
 {
@@ -29,11 +29,13 @@ namespace example_behaviors
  * | sampling_rate     | Input         | int                                                     |
  * | joint_trajectory  | Output        | trajectory_msgs::msg::JointTrajectory                   |
  */
-class ExampleConvertMtcSolutionToJointTrajectory final : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
+class ExampleConvertMtcSolutionToJointTrajectory final
+  : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
 {
 public:
-  ExampleConvertMtcSolutionToJointTrajectory(const std::string& name, const BT::NodeConfiguration& config,
-                                      const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
+  ExampleConvertMtcSolutionToJointTrajectory(
+      const std::string& name, const BT::NodeConfiguration& config,
+      const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
 
   static BT::PortsList providedPorts();
 

src/example_behaviors/include/example_behaviors/example_delayed_message.hpp

@@ -12,7 +12,8 @@
 namespace example_behaviors
 {
 /**
- * @brief ExampleDelayedMessage will use FailureLoggerROS to log a "Hello World" message after the duration specified on the input port
+ * @brief ExampleDelayedMessage will use FailureLoggerROS to log a "Hello World" message after the duration specified on
+ * the input port
  */
 class ExampleDelayedMessage : public moveit_studio::behaviors::SharedResourcesNode<BT::StatefulActionNode>
 {
@@ -34,7 +35,7 @@ class ExampleDelayedMessage : public moveit_studio::behaviors::SharedResourcesNo
    * the initialize() function is called, so these classes should not be used within the constructor.
    */
   ExampleDelayedMessage(const std::string& name, const BT::NodeConfiguration& config,
-                 const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
+                        const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
 
   /**
    * @brief Implementation of the required providedPorts() function for the delayed_message Behavior.

src/example_behaviors/include/example_behaviors/example_fibonacci_action_client.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <moveit_studio_behavior_interface/action_client_behavior_base.hpp>
 #include <example_interfaces/action/fibonacci.hpp>
+#include <moveit_studio_behavior_interface/action_client_behavior_base.hpp>
 
 using moveit_studio::behaviors::ActionClientBehaviorBase;
 using moveit_studio::behaviors::BehaviorContext;
@@ -13,7 +13,7 @@ class ExampleFibonacciActionClient final : public ActionClientBehaviorBase<Fibon
 {
 public:
   ExampleFibonacciActionClient(const std::string& name, const BT::NodeConfiguration& config,
-                        const std::shared_ptr<BehaviorContext>& shared_resources);
+                               const std::shared_ptr<BehaviorContext>& shared_resources);
 
   /** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */
   static BT::PortsList providedPorts();

src/example_behaviors/include/example_behaviors/example_get_string_from_topic.hpp

@@ -12,7 +12,7 @@ class ExampleGetStringFromTopic final : public GetMessageFromTopicBehaviorBase<s
 {
 public:
   ExampleGetStringFromTopic(const std::string& name, const BT::NodeConfiguration& config,
-                     const std::shared_ptr<BehaviorContext>& shared_resources);
+                            const std::shared_ptr<BehaviorContext>& shared_resources);
 
   /** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */
   static BT::PortsList providedPorts();

src/example_behaviors/include/example_behaviors/example_hello_world.hpp

@@ -26,7 +26,7 @@ class ExampleHelloWorld : public moveit_studio::behaviors::SharedResourcesNode<B
    * the initialize() function is called, so these classes should not be used within the constructor.
    */
   ExampleHelloWorld(const std::string& name, const BT::NodeConfiguration& config,
-             const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
+                    const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
 
   /**
    * @brief Implementation of the required providedPorts() function for the hello_world Behavior.
@@ -48,9 +48,9 @@ class ExampleHelloWorld : public moveit_studio::behaviors::SharedResourcesNode<B
   /**
    * @brief Implementation of BT::SyncActionNode::tick() for ExampleHelloWorld.
    * @details This function is where the Behavior performs its work when the behavior tree is being run.
-   * Since ExampleHelloWorld is derived from BT::SyncActionNode, it is very important that its tick() function always finishes
-   * very quickly. If tick() blocks before returning, it will block execution of the entire behavior tree, which may
-   * have undesirable consequences for other Behaviors that require a fast update rate to work correctly.
+   * Since ExampleHelloWorld is derived from BT::SyncActionNode, it is very important that its tick() function always
+   * finishes very quickly. If tick() blocks before returning, it will block execution of the entire behavior tree,
+   * which may have undesirable consequences for other Behaviors that require a fast update rate to work correctly.
    * @return BT::NodeStatus::RUNNING, BT::NodeStatus::SUCCESS, or BT::NodeStatus::FAILURE depending on the result of the
    * work done in this function.
    */

src/example_behaviors/include/example_behaviors/example_ndt_registration.hpp

@@ -3,9 +3,8 @@
 #include <behaviortree_cpp/action_node.h>
 
 // This header includes the SharedResourcesNode type
-#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
 #include <moveit_studio_behavior_interface/async_behavior_base.hpp>
-
+#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
 
 namespace example_behaviors
 {
@@ -17,17 +16,25 @@ class ExampleNDTRegistration : public moveit_studio::behaviors::AsyncBehaviorBas
 public:
   /**
    * @brief Constructor for the behavior.
-   * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
-   * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
-   * @param config This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
-   * @details An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.
+   * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+   * this Behavior is created within a new behavior tree.
+   * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in
+   * the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
+   * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+   * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+   * Behavior is created within a new behavior tree.
+   * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+   * the initialize() function is called, so these classes should not be used within the constructor.
    */
-  ExampleNDTRegistration(const std::string& name, const BT::NodeConfiguration& config, const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
+  ExampleNDTRegistration(const std::string& name, const BT::NodeConfiguration& config,
+                         const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
 
   /**
    * @brief Implementation of the required providedPorts() function for the Behavior.
-   * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function must return an empty BT::PortsList.
-   * This function returns a list of ports with their names and port info, which is used internally by the behavior tree.
+   * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+   * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+   * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+   * used internally by the behavior tree.
    * @return See ndt_registration.cpp for port list and description.
    */
   static BT::PortsList providedPorts();

src/example_behaviors/include/example_behaviors/example_publish_color_rgba.hpp

@@ -16,7 +16,7 @@ class ExamplePublishColorRGBA final : public moveit_studio::behaviors::SharedRes
 {
 public:
   ExamplePublishColorRGBA(const std::string& name, const BT::NodeConfiguration& config,
-                   const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
+                          const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
 
   static BT::PortsList providedPorts();
 

src/example_behaviors/include/example_behaviors/example_ransac_registration.hpp

@@ -3,9 +3,8 @@
 #include <behaviortree_cpp/action_node.h>
 
 // This header includes the SharedResourcesNode type
-#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
 #include <moveit_studio_behavior_interface/async_behavior_base.hpp>
-
+#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
 
 namespace example_behaviors
 {
@@ -17,17 +16,25 @@ class ExampleRANSACRegistration : public moveit_studio::behaviors::AsyncBehavior
 public:
   /**
    * @brief Constructor for the behavior.
-   * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
-   * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
-   * @param config This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
-   * @details An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.
+   * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+   * this Behavior is created within a new behavior tree.
+   * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in
+   * the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
+   * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+   * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+   * Behavior is created within a new behavior tree.
+   * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+   * the initialize() function is called, so these classes should not be used within the constructor.
    */
-  ExampleRANSACRegistration(const std::string& name, const BT::NodeConfiguration& config, const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
+  ExampleRANSACRegistration(const std::string& name, const BT::NodeConfiguration& config,
+                            const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
 
   /**
    * @brief Implementation of the required providedPorts() function for the Behavior.
-   * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function must return an empty BT::PortsList.
-   * This function returns a list of ports with their names and port info, which is used internally by the behavior tree.
+   * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+   * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+   * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+   * used internally by the behavior tree.
    * @return See ransac_registration.cpp for port list and description.
    */
   static BT::PortsList providedPorts();