style: apply pre-commit

Author: lvjonok

include/pinocchio/bindings/python/spatial/inertia.hpp

@@ -42,7 +42,7 @@ namespace pinocchio
       typedef typename Inertia::Matrix4 Matrix4;
       typedef typename Inertia::Matrix10 Matrix10;
       typedef typename Inertia::Vector10 Vector10;
-      
+
       typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
       typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs;
       typedef MotionTpl<Scalar, Options> Motion;

include/pinocchio/spatial/inertia.hpp

@@ -743,8 +743,8 @@ namespace pinocchio
       jacobian(5, 4) = -exp_2alpha * exp_d2;
       jacobian(5, 5) = -s13 * exp_2alpha;
       jacobian(5, 6) = -s23 * exp_2alpha;
-      jacobian(5, 7) = - t2 * exp_2alpha;
-      jacobian(5, 8) = - t1 * exp_2alpha;
+      jacobian(5, 7) = -t2 * exp_2alpha;
+      jacobian(5, 8) = -t1 * exp_2alpha;
 
       jacobian(6, 0) =
         2 * (s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_2d1 + exp_2d3) * exp_2alpha;
@@ -762,8 +762,8 @@ namespace pinocchio
       jacobian(7, 9) = -t1 * exp_2alpha;
 
       jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha;
-      jacobian(8, 3) = - s23 * exp_2alpha * exp_d3;
-      jacobian(8, 5) = - exp_2alpha * exp_d3;
+      jacobian(8, 3) = -s23 * exp_2alpha * exp_d3;
+      jacobian(8, 5) = -exp_2alpha * exp_d3;
       jacobian(8, 8) = -t3 * exp_2alpha;
       jacobian(8, 9) = -t2 * exp_2alpha;
 

unittest/python/bindings_inertia.py

@@ -97,8 +97,7 @@ def test_dynamic_parameters(self):
         self.assertApprox(v[0], I.mass)
         self.assertApprox(v[1:4], I.mass * I.lever)
 
-        I_o = I.inertia + I.mass * \
-            pin.skew(I.lever).transpose().dot(pin.skew(I.lever))
+        I_o = I.inertia + I.mass * pin.skew(I.lever).transpose().dot(pin.skew(I.lever))
         I_ov = np.array(
             [
                 [float(v[4]), float(v[5]), float(v[7])],
@@ -131,12 +130,14 @@ def test_log_cholesky(self):
         exp_d3 = np.exp(d3)
 
         # Create the matrix U
-        U = exp_alpha * np.array([
-            [exp_d1, s12, s13, t1],
-            [0, exp_d2, s23, t2],
-            [0, 0, exp_d3, t3],
-            [0, 0, 0, 1]
-        ])
+        U = exp_alpha * np.array(
+            [
+                [exp_d1, s12, s13, t1],
+                [0, exp_d2, s23, t2],
+                [0, 0, exp_d3, t3],
+                [0, 0, 0, 1],
+            ]
+        )
         pseudo_chol = U @ U.T
 
         inertia = pin.Inertia.FromLogCholeskyParameters(eta)

unittest/spatial.cpp

@@ -14,7 +14,6 @@
 #include "pinocchio/spatial/cartesian-axis.hpp"
 #include "pinocchio/spatial/spatial-axis.hpp"
 
-
 #include <boost/test/unit_test.hpp>
 #include <boost/utility/binary.hpp>