rustfmt tweaks

examples/gps.rs

@@ -12,14 +12,14 @@ A simple 2D pose slam example with "GPS" measurements
 #![allow(unused_imports)]
 // Our state will be represented by SE2 -> theta, x, y
 // VectorVar2 is a newtype around Vector2 for optimization purposes
-use factrs::variables::{VectorVar2, SE2};
 use factrs::{
     assign_symbols,
     core::{BetweenResidual, GaussNewton, Graph, Values},
     dtype, fac,
     linalg::{Const, ForwardProp, Numeric, NumericalDiff, VectorX},
     residuals::Residual1,
     traits::*,
+    variables::{VectorVar2, SE2},
 };
 
 #[derive(Clone, Debug)]

src/utils.rs

@@ -61,7 +61,8 @@ pub fn load_g20(file: &str) -> (Graph, Values) {
                 let m22 = parts[9].parse::<dtype>().expect("Failed to parse g20");
                 let m23 = parts[10].parse::<dtype>().expect("Failed to parse g20");
                 let m33 = parts[11].parse::<dtype>().expect("Failed to parse g20");
-                // Note have to permute here - g2o stores with translation first, factrs with rotation first
+                // Note have to permute here - g2o stores with translation first, factrs with
+                // rotation first
                 #[rustfmt::skip]
                 let inf = Matrix3::new(
                     m33, m13, m23,
@@ -135,7 +136,8 @@ pub fn load_g20(file: &str) -> (Graph, Values) {
                 let m55 = parts[28].parse::<dtype>().expect("Failed to parse g20");
                 let m56 = parts[29].parse::<dtype>().expect("Failed to parse g20");
                 let m66 = parts[30].parse::<dtype>().expect("Failed to parse g20");
-                // Note have to permute here - g2o stores with translation first, factrs with rotation first
+                // Note have to permute here - g2o stores with translation first, factrs with
+                // rotation first
                 #[rustfmt::skip]
                 let inf = Matrix6::new(
                     m44, m45, m46, m14, m24, m34,

src/variables/traits.rs

@@ -125,9 +125,9 @@ pub trait Variable: Clone + Sized + Display + Debug {
         other.inverse().compose(self)
     }
 
-    // TODO: This function is kind of ugly functions still
-    // Would be nice if it wasn't a static function, but I couldn't ever get it quite right
-    // Tried to add bound Self: Variable<T = DualVector<N>>, but it then I couldn't do custom impl
+    // TODO: This function is kind of ugly still
+    // It'd be nice if it used the dtype of the type itself instead of making a
+    // dtype with a generic
 
     /// Setup group element correctly using the tangent space
     ///

tests/custom_variable.rs

@@ -74,12 +74,13 @@ factrs::test_variable!(MyVar);
 
 #[cfg(feature = "serde")]
 mod ser_de {
-    use super::*;
     use factrs::{
         assert_variable_eq, containers::Values, residuals::PriorResidual, symbols::X,
         traits::Residual, variables::VariableSafe,
     };
 
+    use super::*;
+
     // Make sure it serializes properly
     #[test]
     fn test_json_serialize() {