apply JuliaFormatter

UW-ACL · Jan 19, 2022 · 169426b · 169426b
1 parent eb71ba4
commit 169426b
Show file tree

Hide file tree

Showing 66 changed files with 7,416 additions and 5,731 deletions.
diff --git a/src/SCPToolbox.jl b/src/SCPToolbox.jl
@@ -35,8 +35,12 @@ export Homotopy
 # Sequential convex programming solvers
 export SCvx, GuSTO, PTR
 export SCPSolution, SCPHistory, SCPParameters
-export SCP_SOLVED, SCP_FAILED, SCP_SCALING_FAILED, SCP_GUESS_PROJECTION_FAILED,
-    SCP_BAD_ARGUMENT, SCP_BAD_PROBLEM
+export SCP_SOLVED,
+    SCP_FAILED,
+    SCP_SCALING_FAILED,
+    SCP_GUESS_PROJECTION_FAILED,
+    SCP_BAD_ARGUMENT,
+    SCP_BAD_PROBLEM
 
 # Optimization problem (low-level conic form parser)
 export ConicProgram
@@ -47,23 +51,55 @@ export solve!
 
 # Trajectory problem high-level definition
 export TrajectoryProblem
-export problem_set_dims!, problem_advise_scale!, problem_set_integration_action!,
-    problem_set_guess!, problem_set_callback!, problem_set_terminal_cost!,
-    problem_set_running_cost!, problem_set_dynamics!, problem_set_X!, problem_set_U!,
-    problem_set_s!, problem_set_bc!, problem_add_table_column!, define_conic_constraint!
+export problem_set_dims!,
+    problem_advise_scale!,
+    problem_set_integration_action!,
+    problem_set_guess!,
+    problem_set_callback!,
+    problem_set_terminal_cost!,
+    problem_set_running_cost!,
+    problem_set_dynamics!,
+    problem_set_X!,
+    problem_set_U!,
+    problem_set_s!,
+    problem_set_bc!,
+    problem_add_table_column!,
+    define_conic_constraint!
 export FOH, IMPULSE
 
 # Computational functions
 export rk4
-export linterp, zohinterp, diracinterp, straightline_interpolate, logsumexp, or, squeeze,
-    convert_units, golden, c2d, trapz, homtransf, hominv, homdisp, homrot
+export linterp,
+    zohinterp,
+    diracinterp,
+    straightline_interpolate,
+    logsumexp,
+    or,
+    squeeze,
+    convert_units,
+    golden,
+    c2d,
+    trapz,
+    homtransf,
+    hominv,
+    homdisp,
+    homrot
 export rpy, slerp_interpolate, Log, skew, rotate, ddq
 export sample
 
 # Plotting and printing
-export plot_timeseries_bound!, plot_ellipsoids!, plot_prisms!,
-    plot_convergence, setup_axis!, generate_colormap, rgb, rgb2pyplot,
-    set_axis_equal, create_figure, save_figure, darken_color
+export plot_timeseries_bound!,
+    plot_ellipsoids!,
+    plot_prisms!,
+    plot_convergence,
+    setup_axis!,
+    generate_colormap,
+    rgb,
+    rgb2pyplot,
+    set_axis_equal,
+    create_figure,
+    save_figure,
+    darken_color
 export test_heading
 export Yellow, Red, Blue, DarkBlue, Green
 
@@ -78,14 +114,38 @@ import .Utils: Hyperrectangle
 const RealValue = Utils.Types.RealTypes
 
 import .Utils: rk4
-import .Utils: linterp, zohinterp, diracinterp, straightline_interpolate, logsumexp,
-    or, squeeze, convert_units, golden, c2d, trapz, homtransf, hominv, homdisp, homrot
+import .Utils:
+    linterp,
+    zohinterp,
+    diracinterp,
+    straightline_interpolate,
+    logsumexp,
+    or,
+    squeeze,
+    convert_units,
+    golden,
+    c2d,
+    trapz,
+    homtransf,
+    hominv,
+    homdisp,
+    homrot
 import .Utils: ContinuousTimeTrajectory, sample
 import .Utils: Homotopy
 
-import .Utils: plot_timeseries_bound!, plot_ellipsoids!, plot_prisms!,
-    plot_convergence, setup_axis!, generate_colormap, rgb, rgb2pyplot,
-    set_axis_equal, create_figure, save_figure, darken_color
+import .Utils:
+    plot_timeseries_bound!,
+    plot_ellipsoids!,
+    plot_prisms!,
+    plot_convergence,
+    setup_axis!,
+    generate_colormap,
+    rgb,
+    rgb2pyplot,
+    set_axis_equal,
+    create_figure,
+    save_figure,
+    darken_color
 import .Utils: test_heading
 import .Utils: Yellow, Red, Blue, DarkBlue, Green
 
@@ -100,17 +160,33 @@ import .Parser: solve!
 ### Trajectory problem definition
 
 import .Parser: TrajectoryProblem
-import .Parser: problem_set_dims!, problem_advise_scale!, problem_set_integration_action!,
-    problem_set_guess!, problem_set_callback!, problem_set_terminal_cost!,
-    problem_set_running_cost!, problem_set_dynamics!, problem_set_X!, problem_set_U!,
-    problem_set_s!, problem_set_bc!, problem_add_table_column!, define_conic_constraint!
+import .Parser:
+    problem_set_dims!,
+    problem_advise_scale!,
+    problem_set_integration_action!,
+    problem_set_guess!,
+    problem_set_callback!,
+    problem_set_terminal_cost!,
+    problem_set_running_cost!,
+    problem_set_dynamics!,
+    problem_set_X!,
+    problem_set_U!,
+    problem_set_s!,
+    problem_set_bc!,
+    problem_add_table_column!,
+    define_conic_constraint!
 import .Parser: FOH, IMPULSE
 
 ### Sequential convex programming solvers
 
 import .Solvers: SCvx, GuSTO, PTR
 import .Solvers: SCPSolution, SCPHistory, SCPParameters
-import .Solvers: SCP_SOLVED, SCP_FAILED, SCP_SCALING_FAILED, SCP_GUESS_PROJECTION_FAILED,
-    SCP_BAD_ARGUMENT, SCP_BAD_PROBLEM
+import .Solvers:
+    SCP_SOLVED,
+    SCP_FAILED,
+    SCP_SCALING_FAILED,
+    SCP_GUESS_PROJECTION_FAILED,
+    SCP_BAD_ARGUMENT,
+    SCP_BAD_PROBLEM
 
 end
diff --git a/src/parser/argument.jl b/src/parser/argument.jl
@@ -24,7 +24,7 @@ export value, name
 # Specialize argument blocks to variables and parameters
 const VariableArgumentBlock = ArgumentBlock{AtomicVariable}
 const ConstantArgumentBlock = ArgumentBlock{AtomicConstant}
-const ArgumentBlocks = Vector{ArgumentBlock{T}} where T
+const ArgumentBlocks = Vector{ArgumentBlock{T}} where {T}
 
 # ..:: Data structures ::..
 
@@ -80,13 +80,14 @@ Iterate over the blocks of an argument.
 # Returns
 The current block and the next state, or `nothing` if at the end.
 """
-function Base.iterate(arg::Argument,
-                      state::Int=1)::Union{
-                          Nothing, Tuple{ArgumentBlock, Int}}
+function Base.iterate(
+    arg::Argument,
+    state::Int = 1,
+)::Union{Nothing,Tuple{ArgumentBlock,Int}}
     if state > length(arg)
         return nothing
     else
-        return arg.blocks[state], state+1
+        return arg.blocks[state], state + 1
     end
 end
 
@@ -110,8 +111,8 @@ Append a new block to the end of the argument.
 function Base.push!(arg::Argument, name::String, shape::Int...)::ArgumentBlock
 
     # Create the new block
-    blid = length(arg)+1
-    elid1 = numel(arg)+1
+    blid = length(arg) + 1
+    elid1 = numel(arg) + 1
     block = ArgumentBlock(arg, shape, blid, elid1, name)
 
     # Update the arguemnt