diff --git a/examples/rod2d/BUILD.bazel b/examples/rod2d/BUILD.bazel
index 46f5eeb3a6f4..0dbe9a41a1cc 100644
--- a/examples/rod2d/BUILD.bazel
+++ b/examples/rod2d/BUILD.bazel
@@ -111,4 +111,4 @@ drake_cc_googletest(
],
)
-add_lint_tests(enable_clang_format_lint = False)
+add_lint_tests()
diff --git a/examples/rod2d/constraint_problem_data.h b/examples/rod2d/constraint_problem_data.h
index 0273407067e9..ff1f9e023e05 100644
--- a/examples/rod2d/constraint_problem_data.h
+++ b/examples/rod2d/constraint_problem_data.h
@@ -24,7 +24,7 @@ namespace rod2d {
/// constraints, etc.)
///
/// Definition of variables specific to this class
-/// (See @ref constraint_variable_defs) for the more general set of
+/// (See "Variable definitions" in the local README) for the more general set of
/// definitions).
///
/// - ns ∈ ℕ The number of contacts at which sliding is occurring. Note
diff --git a/examples/rod2d/constraint_solver.h b/examples/rod2d/constraint_solver.h
index da0ef6062bfb..8da67775ad91 100644
--- a/examples/rod2d/constraint_solver.h
+++ b/examples/rod2d/constraint_solver.h
@@ -162,8 +162,8 @@ class ConstraintSolver {
/// `x₆`, `x₇`, and `x₈` can be viewed as mathematical programming "slack"
/// variables; and `kᴳ ∈ ℝⁿᵇ`, `kᴺ ∈ ℝⁿᶜ`, `kᴰ ∈ ℝⁿᶜᵏ`, `kᴸ ∈ ℝⁿᵘ`
/// allow customizing the problem to, e.g., correct constraint violations and
- /// simulate restitution. See @ref constraint_variable_defs for complete
- /// definitions of `nv`, `nc`, `nb`, etc.
+ /// simulate restitution. See "Variable definitions" in the local README for
+ /// complete definitions of `nv`, `nc`, `nb`, etc.
///
/// From the notation above in Equations (a)-(d), we can convert the MLCP
/// to a "pure" linear complementarity problem (LCP), which is easier to
diff --git a/examples/rod2d/rod2d.cc b/examples/rod2d/rod2d.cc
index 2a5498242ee3..447fad2441c4 100644
--- a/examples/rod2d/rod2d.cc
+++ b/examples/rod2d/rod2d.cc
@@ -44,7 +44,7 @@ Rod2D::Rod2D(SystemType system_type, double dt)
// Both piecewise DAE and compliant approach require six continuous
// variables.
auto state_index = this->DeclareContinuousState(Rod2dStateVector(), 3, 3,
- 0); // q, v, z
+ 0 /* q, v, z */);
state_output_port_ =
&this->DeclareStateOutputPort("state_output", state_index);
}
@@ -127,7 +127,11 @@ MatrixX Rod2D::solve_inertia(const MatrixX& B) const {
const T inv_mass = 1.0 / get_rod_mass();
const T inv_J = 1.0 / get_rod_moment_of_inertia();
Matrix3 iM;
- iM << inv_mass, 0, 0, 0, inv_mass, 0, 0, 0, inv_J;
+ // clang-format off
+ iM << inv_mass, 0, 0,
+ 0, inv_mass, 0,
+ 0, 0, inv_J;
+ // clang-format on
return iM * B;
}
@@ -269,7 +273,10 @@ Matrix2 Rod2D::GetSlidingContactFrameToWorldTransform(
DRAKE_DEMAND(xaxis_velocity != 0);
Matrix2 R_WC;
// R_WC's elements match how they appear lexically: one row per line.
- R_WC << 0, ((xaxis_velocity > 0) ? 1 : -1), 1, 0;
+ // clang-format off
+ R_WC << 0, ((xaxis_velocity > 0) ? 1 : -1),
+ 1, 0;
+ // clang-format on
return R_WC;
}
@@ -286,7 +293,10 @@ Matrix2 Rod2D::GetNonSlidingContactFrameToWorldTransform() const {
// axis in the contact frame) is +x in the world frame.
Matrix2 R_WC;
// R_WC's elements match how they appear lexically: one row per line.
- R_WC << 0, 1, 1, 0;
+ // clang-format off
+ R_WC << 0, 1,
+ 1, 0;
+ // clang-format on
return R_WC;
}
@@ -412,7 +422,11 @@ void Rod2D::CalcImpactProblemData(const systems::Context& context,
// Setup the generalized inertia matrix.
Matrix3 M;
- M << mass_, 0, 0, 0, mass_, 0, 0, 0, J_;
+ // clang-format off
+ M << mass_, 0, 0,
+ 0, mass_, 0,
+ 0, 0, J_;
+ // clang-format on
// Get the generalized velocity.
data->Mv =
@@ -768,7 +782,11 @@ Vector2 Rod2D::CalcStickingImpactImpulse(
template
Matrix3 Rod2D::GetInertiaMatrix() const {
Matrix3 M;
- M << mass_, 0, 0, 0, mass_, 0, 0, 0, J_;
+ // clang-format off
+ M << mass_, 0, 0,
+ 0, mass_, 0,
+ 0, 0, J_;
+ // clang-format on
return M;
}
@@ -777,7 +795,11 @@ Matrix3 Rod2D::GetInertiaMatrix() const {
template
Matrix3 Rod2D::GetInverseInertiaMatrix() const {
Matrix3 M_inv;
- M_inv << 1.0 / mass_, 0, 0, 0, 1.0 / mass_, 0, 0, 0, 1.0 / J_;
+ // clang-format off
+ M_inv << 1.0 / mass_, 0, 0,
+ 0, 1.0 / mass_, 0,
+ 0, 0, 1.0 / J_;
+ // clang-format on
return M_inv;
}
diff --git a/examples/rod2d/rod2d_sim.cc b/examples/rod2d/rod2d_sim.cc
index 26d26531c3b4..7a9299da88e0 100644
--- a/examples/rod2d/rod2d_sim.cc
+++ b/examples/rod2d/rod2d_sim.cc
@@ -44,11 +44,11 @@ int main(int argc, char* argv[]) {
// Create the rod and add it to the diagram.
Rod2D* rod;
if (FLAGS_system_type == "discretized") {
- rod = builder.template AddSystem(
- Rod2D::SystemType::kDiscretized, FLAGS_dt);
+ rod = builder.template AddSystem(Rod2D::SystemType::kDiscretized,
+ FLAGS_dt);
} else if (FLAGS_system_type == "continuous") {
- rod = builder.template AddSystem(Rod2D::SystemType::kContinuous,
- 0.0);
+ rod =
+ builder.template AddSystem(Rod2D::SystemType::kContinuous, 0.0);
} else {
std::cerr << "Invalid simulation type '" << FLAGS_system_type
<< "'; note that types are case sensitive." << std::endl;
diff --git a/examples/rod2d/test/rod2d_test.cc b/examples/rod2d/test/rod2d_test.cc
index daafa4265652..1199420cb4ed 100644
--- a/examples/rod2d/test/rod2d_test.cc
+++ b/examples/rod2d/test/rod2d_test.cc
@@ -10,14 +10,14 @@
#include "drake/examples/rod2d/constraint_solver.h"
#include "drake/systems/analysis/simulator.h"
-using drake::systems::VectorBase;
+using drake::systems::AbstractValues;
using drake::systems::BasicVector;
+using drake::systems::Context;
using drake::systems::ContinuousState;
+using drake::systems::Simulator;
using drake::systems::State;
using drake::systems::SystemOutput;
-using drake::systems::AbstractValues;
-using drake::systems::Simulator;
-using drake::systems::Context;
+using drake::systems::VectorBase;
using Eigen::Vector2d;
using Eigen::Vector3d;
@@ -72,8 +72,7 @@ class Rod2DDAETest : public ::testing::Test {
using std::sqrt;
const double half_len = dut_->get_rod_half_length();
const double r22 = std::sqrt(2) / 2;
- ContinuousState& xc =
- context_->get_mutable_continuous_state();
+ ContinuousState& xc = context_->get_mutable_continuous_state();
xc[0] = -half_len * r22;
xc[1] = half_len * r22;
xc[2] = 3 * M_PI / 4.0;
@@ -87,8 +86,7 @@ class Rod2DDAETest : public ::testing::Test {
// Sets the rod to a state that corresponds to ballistic motion.
void SetBallisticState() {
const double half_len = dut_->get_rod_half_length();
- ContinuousState& xc =
- context_->get_mutable_continuous_state();
+ ContinuousState& xc = context_->get_mutable_continuous_state();
xc[0] = 0.0;
xc[1] = 10 * half_len;
xc[2] = M_PI_2;
@@ -104,9 +102,9 @@ class Rod2DDAETest : public ::testing::Test {
void SetInterpenetratingConfig() {
ContinuousState& xc = context_->get_mutable_continuous_state();
// Configuration has the rod on its side.
- xc[0] = 0.0; // com horizontal position
- xc[1] = -1.0; // com vertical position
- xc[2] = 0.0; // rod rotation
+ xc[0] = 0.0; // com horizontal position
+ xc[1] = -1.0; // com vertical position
+ xc[2] = 0.0; // rod rotation
}
// Sets the rod to a resting horizontal configuration without modifying the
@@ -114,20 +112,20 @@ class Rod2DDAETest : public ::testing::Test {
void SetRestingHorizontalConfig() {
ContinuousState& xc = context_->get_mutable_continuous_state();
// Configuration has the rod on its side.
- xc[0] = 0.0; // com horizontal position
- xc[1] = 0.0; // com vertical position
- xc[2] = 0.0; // rod rotation
- xc[3] = xc[4] = xc[5] = 0.0; // velocity variables
+ xc[0] = 0.0; // com horizontal position
+ xc[1] = 0.0; // com vertical position
+ xc[2] = 0.0; // rod rotation
+ xc[3] = xc[4] = xc[5] = 0.0; // velocity variables
}
// Sets the rod to a resting vertical configuration without modifying the
// mode variables.
void SetRestingVerticalConfig() {
ContinuousState& xc = context_->get_mutable_continuous_state();
- xc[0] = 0.0; // com horizontal position
- xc[1] = dut_->get_rod_half_length(); // com vertical position
- xc[2] = M_PI_2; // rod rotation
- xc[3] = xc[4] = xc[5] = 0.0; // velocity variables
+ xc[0] = 0.0; // com horizontal position
+ xc[1] = dut_->get_rod_half_length(); // com vertical position
+ xc[2] = M_PI_2; // rod rotation
+ xc[3] = xc[4] = xc[5] = 0.0; // velocity variables
}
// Sets the contact mode such that the left endpoint is contacting. The caller
@@ -143,15 +141,14 @@ class Rod2DDAETest : public ::testing::Test {
// corresponds to an impact.
SetSecondInitialConfig();
ContinuousState& xc = context_->get_mutable_continuous_state();
- xc[4] = -1.0; // com horizontal velocity
+ xc[4] = -1.0; // com horizontal velocity
// TODO(edrumwri): Set the rod mode to indicate that it is in the single
// contact sliding mode.
}
// Computes rigid impact data.
- void CalcRigidImpactVelProblemData(
- ConstraintVelProblemData* data) {
+ void CalcRigidImpactVelProblemData(ConstraintVelProblemData* data) {
// Get the points of contact.
std::vector contacts;
dut_->GetContactPoints(*context_, &contacts);
@@ -178,7 +175,8 @@ class Rod2DDAETest : public ::testing::Test {
contact_solver_.ComputeGeneralizedVelocityChange(data, cf, &delta_v);
// Update the velocity part of the state.
- context_->get_mutable_continuous_state().get_mutable_generalized_velocity()
+ context_->get_mutable_continuous_state()
+ .get_mutable_generalized_velocity()
.SetFromVector(data.solve_inertia(data.Mv) + delta_v);
}
@@ -193,21 +191,20 @@ class Rod2DDAETest : public ::testing::Test {
// Checks the consistency of a transpose operator.
void CheckTransOperatorDim(
std::function(const VectorX&)> JT,
- int num_constraints) {
+ int num_constraints) {
EXPECT_EQ(JT(VectorX(num_constraints)).size(),
get_rod_num_coordinates());
}
// Checks consistency of rigid contact problem data.
- void CheckProblemConsistency(
- const ConstraintAccelProblemData& data,
- int num_contacts) {
+ void CheckProblemConsistency(const ConstraintAccelProblemData& data,
+ int num_contacts) {
// TODO(edrumwri): Stop short-circuiting this after piecewise DAE
// implementation repaired.
return;
- EXPECT_EQ(num_contacts, data.sliding_contacts.size() +
- data.non_sliding_contacts.size());
+ EXPECT_EQ(num_contacts,
+ data.sliding_contacts.size() + data.non_sliding_contacts.size());
EXPECT_EQ(GetOperatorDim(data.N_mult), num_contacts);
CheckTransOperatorDim(data.N_minus_muQ_transpose_mult, num_contacts);
EXPECT_EQ(GetOperatorDim(data.L_mult), data.kL.size());
@@ -231,9 +228,8 @@ class Rod2DDAETest : public ::testing::Test {
}
// Checks consistency of rigid impact problem data.
- void CheckProblemConsistency(
- const ConstraintVelProblemData& data,
- int num_contacts) {
+ void CheckProblemConsistency(const ConstraintVelProblemData& data,
+ int num_contacts) {
EXPECT_EQ(num_contacts, data.mu.size());
EXPECT_EQ(num_contacts, data.r.size());
EXPECT_EQ(GetOperatorDim(data.N_mult), num_contacts);
@@ -268,8 +264,8 @@ TEST_F(Rod2DDAETest, NamedStateVectorsNoThrow) {
// Tests that named state vector components are at expected indices.
TEST_F(Rod2DDAETest, ExpectedIndices) {
// Set the state.
- Rod2dStateVector& state = Rod2D::get_mutable_state(
- context_.get());
+ Rod2dStateVector& state =
+ Rod2D::get_mutable_state(context_.get());
state.set_x(1.0);
state.set_y(2.0);
state.set_theta(3.0);
@@ -290,8 +286,7 @@ TEST_F(Rod2DDAETest, ExpectedIndices) {
// Checks that the output port represents the state.
TEST_F(Rod2DDAETest, Output) {
const ContinuousState& xc = context_->get_continuous_state();
- std::unique_ptr> output =
- dut_->AllocateOutput();
+ std::unique_ptr> output = dut_->AllocateOutput();
dut_->CalcOutput(*context_, output.get());
for (int i = 0; i < xc.size(); ++i)
EXPECT_EQ(xc[i], output->get_vector_data(0)->value()(i));
@@ -422,9 +417,9 @@ TEST_F(Rod2DDAETest, DerivativesContactingAndSticking) {
// Set the coefficient of friction such that the contact forces are right
// on the edge of the friction cone. Determine the predicted normal force
// (this simple formula is dependent upon the upright rod configuration).
- const double mu_stick = f_x / (dut_->get_rod_mass() *
- -dut_->get_gravitational_acceleration() -
- f_y);
+ const double mu_stick =
+ f_x /
+ (dut_->get_rod_mass() * -dut_->get_gravitational_acceleration() - f_y);
dut_->set_mu_coulomb(mu_stick);
// TODO(edrumwri): Calculate the derivatives.
@@ -450,13 +445,13 @@ TEST_F(Rod2DDAETest, ImpactNoChange) {
// TODO(edrumwri): Verify not impacting at initial state.
// Get the continuous state.
- const VectorX xc_old = context_->get_continuous_state().
- get_vector().CopyToVector();
+ const VectorX xc_old =
+ context_->get_continuous_state().get_vector().CopyToVector();
// Model the impact and get the continuous state out.
// TODO(edrumwri): Model the impact here.
- const VectorX xc = context_->get_continuous_state().
- get_vector().CopyToVector();
+ const VectorX xc =
+ context_->get_continuous_state().get_vector().CopyToVector();
// TODO(edrumwri): Verify the continuous state did not change.
}
@@ -760,7 +755,7 @@ class Rod2DDiscretizedTest : public ::testing::Test {
BasicVector& mutable_discrete_state() {
return context_->get_mutable_discrete_state(0);
}
-// Sets a secondary initial Rod2D configuration.
+ // Sets a secondary initial Rod2D configuration.
void SetSecondInitialConfig() {
// Set the configuration to an inconsistent (Painlevé) type state with
// the rod at a 135 degree counter-clockwise angle with respect to the
@@ -927,12 +922,12 @@ GTEST_TEST(Rod2DCrossValidationTest, OneStepSolutionSticking) {
// piecewise DAE based approach.
std::unique_ptr> f = pdae.AllocateTimeDerivatives();
// TODO(edrumwri): Compute derivatives here.
- xc[3] += + dt * ((*f)[3]);
- xc[4] += + dt * ((*f)[4]);
- xc[5] += + dt * ((*f)[5]);
- xc[0] += + dt * xc[3];
- xc[1] += + dt * xc[4];
- xc[2] += + dt * xc[5];
+ xc[3] += +dt * ((*f)[3]);
+ xc[4] += +dt * ((*f)[4]);
+ xc[5] += +dt * ((*f)[5]);
+ xc[0] += +dt * xc[3];
+ xc[1] += +dt * xc[4];
+ xc[2] += +dt * xc[5];
// TODO(edrumwri): Check that the solution is nearly identical.
}
@@ -983,13 +978,17 @@ class Rod2DContinuousTest : public ::testing::Test {
// Sets the planar pose in the context.
void set_pose(double x, double y, double theta) {
ContinuousState& xc = context_->get_mutable_continuous_state();
- xc[0] = x; xc[1] = y; xc[2] = theta;
+ xc[0] = x;
+ xc[1] = y;
+ xc[2] = theta;
}
// Sets the planar velocity in the context.
void set_velocity(double xdot, double ydot, double thetadot) {
ContinuousState& xc = context_->get_mutable_continuous_state();
- xc[3] = xdot; xc[4] = ydot; xc[5] = thetadot;
+ xc[3] = xdot;
+ xc[4] = ydot;
+ xc[5] = thetadot;
}
// Returns planar pose derivative (should be planar velocities xdot,
@@ -1008,7 +1007,7 @@ class Rod2DContinuousTest : public ::testing::Test {
// Sets the rod to a state that corresponds to ballistic motion.
void SetBallisticState() {
const double half_len = dut_->get_rod_half_length();
- set_pose(0, 10*half_len, M_PI_2);
+ set_pose(0, 10 * half_len, M_PI_2);
set_velocity(1, 2, 3);
}
@@ -1021,7 +1020,7 @@ class Rod2DContinuousTest : public ::testing::Test {
DRAKE_DEMAND(-1 <= k && k <= 1);
const double half_len = dut_->get_rod_half_length();
const double penetration = 0.01; // 1 cm
- set_pose(0, std::abs(k)*half_len - penetration, -k*M_PI_2);
+ set_pose(0, std::abs(k) * half_len - penetration, -k * M_PI_2);
set_velocity(0, 0, 0);
}
@@ -1063,7 +1062,7 @@ TEST_F(Rod2DContinuousTest, ForcesHaveRightSign) {
// the overall force.
set_velocity(0, -10, 0);
Vector3d F_Ro_W_ldown = dut_->CalcCompliantContactForces(*context_);
- EXPECT_GT(F_Ro_W_ldown[1], 2*F_Ro_W_left[1]); // Did it double?
+ EXPECT_GT(F_Ro_W_ldown[1], 2 * F_Ro_W_left[1]); // Did it double?
// An extreme upwards velocity should be a "pull out" situation resulting
// in (exactly) zero force rather than a negative force.
@@ -1087,7 +1086,6 @@ TEST_F(Rod2DContinuousTest, ForcesHaveRightSign) {
EXPECT_NEAR(F_Ro_W_px[1], F_Ro_W_left[1], kTightTol);
EXPECT_LT(F_Ro_W_px[2], -1.);
-
SetContactingState(1); // Right should behave same as left.
Vector3d F_Ro_W_right = dut_->CalcCompliantContactForces(*context_);
EXPECT_TRUE(F_Ro_W_right.isApprox(F_Ro_W_left, kTightTol));
@@ -1096,7 +1094,7 @@ TEST_F(Rod2DContinuousTest, ForcesHaveRightSign) {
// be zero moment.
SetContactingState(0);
Vector3d F_Ro_W_both = dut_->CalcCompliantContactForces(*context_);
- EXPECT_TRUE(F_Ro_W_both.isApprox(F_Ro_W_left+F_Ro_W_right, kTightTol));
+ EXPECT_TRUE(F_Ro_W_both.isApprox(F_Ro_W_left + F_Ro_W_right, kTightTol));
EXPECT_NEAR(F_Ro_W_both[2], 0., kTightTol);
}