[solvers] Opt-in to clang-format-lint (#22096)

solvers/BUILD.bazel

@@ -2098,4 +2098,4 @@ drake_cc_googletest(
     ],
 )
 
-add_lint_tests(enable_clang_format_lint = False)
+add_lint_tests()

solvers/create_constraint.cc

@@ -346,8 +346,8 @@ std::unique_ptr<Binding<LorentzConeConstraint>> MaybeParseLorentzConeConstraint(
     // deprecation because of the way it is bound in pydrake.
     if (!greater.is_polynomial() ||
         symbolic::Polynomial(greater).TotalDegree() > 1) {
-    return nullptr;
-  }
+      return nullptr;
+    }
   }
   symbolic::DecomposeAffineExpressions(Vector1<Expression>{greater}, &A, &b,
                                        &greater_vars);
@@ -412,12 +412,14 @@ Binding<Constraint> ParseConstraint(
         if (is_constant(lhs, kInf)) {
           throw std::runtime_error(
               fmt::format("ParseConstraint is called with a formula ({}) with "
-                          "a lower bound of +inf.", f));
+                          "a lower bound of +inf.",
+                          f));
         }
         if (is_constant(rhs, -kInf)) {
           throw std::runtime_error(
               fmt::format("ParseConstraint is called with a formula ({}) with "
-                          "an upper bound of -inf.", f));
+                          "an upper bound of -inf.",
+                          f));
         }
         if (is_constant(lhs, -kInf)) {
           // The constraint is trivial, but valid.
@@ -442,12 +444,14 @@ Binding<Constraint> ParseConstraint(
         if (is_constant(rhs, kInf)) {
           throw std::runtime_error(
               fmt::format("ParseConstraint is called with a formula ({}) with "
-                          "a lower bound of +inf.", f));
+                          "a lower bound of +inf.",
+                          f));
         }
         if (is_constant(lhs, -kInf)) {
           throw std::runtime_error(
               fmt::format("ParseConstraint is called with a formula ({}) with "
-                          "an upper bound of -inf.", f));
+                          "an upper bound of -inf.",
+                          f));
         }
         if (is_constant(rhs, -kInf)) {
           // The constraint is trivial, but valid.
@@ -703,8 +707,7 @@ shared_ptr<Constraint> MakePolynomialConstraint(
 }
 
 Binding<LorentzConeConstraint> ParseLorentzConeConstraint(
-    const symbolic::Formula& f,
-    LorentzConeConstraint::EvalType eval_type,
+    const symbolic::Formula& f, LorentzConeConstraint::EvalType eval_type,
     double psd_tol, double coefficient_tol) {
   auto lorentz_cone_binding = MaybeParseLorentzConeConstraint(
       f,

solvers/create_cost.h

@@ -42,7 +42,6 @@ Binding<L2NormCost> ParseL2NormCost(const symbolic::Expression& e,
  */
 Binding<Cost> ParseCost(const symbolic::Expression& e);
 
-
 // TODO(eric.cousineau): Remove this when functor cost is no longer exposed
 // externally, and must be explicitly called.
 

solvers/evaluator_base.cc

@@ -73,7 +73,9 @@ std::string EvaluatorBase::DoToLatex(const VectorX<symbolic::Variable>& vars,
   ss << "\\text{" << NiceTypeName::RemoveNamespaces(NiceTypeName::Get(*this))
      << "}(";
   for (int i = 0; i < vars_rows; ++i) {
-    if (i > 0) { ss << ", "; }
+    if (i > 0) {
+      ss << ", ";
+    }
     ss << symbolic::ToLatex(vars(i));
   }
   ss << ")";

solvers/mathematical_program.h

@@ -2111,8 +2111,8 @@ class MathematicalProgram {
   Binding<LorentzConeConstraint> AddLorentzConeConstraint(
       const symbolic::Formula& f,
       LorentzConeConstraint::EvalType eval_type =
-          LorentzConeConstraint::EvalType::kConvexSmooth, double psd_tol = 1e-8,
-                                    double coefficient_tol = 1e-8);
+          LorentzConeConstraint::EvalType::kConvexSmooth,
+      double psd_tol = 1e-8, double coefficient_tol = 1e-8);
 
   /**
    * Adds Lorentz cone constraint referencing potentially a subset of the

solvers/solver_base.h

@@ -37,9 +37,7 @@ class SolverBase : public SolverInterface {
              MathematicalProgramResult*) const override;
   bool available() const override;
   bool enabled() const override;
-  SolverId solver_id() const final {
-    return solver_id_;
-  }
+  SolverId solver_id() const final { return solver_id_; }
   bool AreProgramAttributesSatisfied(const MathematicalProgram&) const override;
   std::string ExplainUnsatisfiedProgramAttributes(
       const MathematicalProgram&) const override;

solvers/test/clarabel_solver_test.cc

@@ -469,8 +469,7 @@ GTEST_TEST(TestOptions, StandaloneReproduction) {
   ClarabelSolver solver;
   if (solver.available()) {
     SolverOptions solver_options;
-    const std::string repro_file_name =
-        temp_directory() + "/reproduction.py";
+    const std::string repro_file_name = temp_directory() + "/reproduction.py";
     solver_options.SetOption(
         CommonSolverOption::kStandaloneReproductionFileName, repro_file_name);
     solver.Solve(prog, std::nullopt, solver_options);
@@ -506,8 +505,7 @@ GTEST_TEST(TestOptions, EmptyCones) {
   ClarabelSolver solver;
   if (solver.available()) {
     SolverOptions solver_options;
-    const std::string repro_file_name =
-        temp_directory() + "/reproduction.py";
+    const std::string repro_file_name = temp_directory() + "/reproduction.py";
     solver_options.SetOption(
         CommonSolverOption::kStandaloneReproductionFileName, repro_file_name);
     solver.Solve(prog, std::nullopt, solver_options);

solvers/test/cost_test.cc

@@ -759,8 +759,8 @@ GTEST_TEST(EvaluatorCost, Eval) {
 }
 
 GTEST_TEST(ExpressionCost, Basic) {
-  using std::sin;
   using std::cos;
+  using std::sin;
   Variable x("x"), y("y");
   symbolic::Expression e = x * sin(y);
   ExpressionCost cost(e);
@@ -779,7 +779,7 @@ GTEST_TEST(ExpressionCost, Basic) {
 
   AutoDiffVecXd x_ad = math::InitializeAutoDiff(x_d);
   AutoDiffVecXd y_ad;
-  RowVector2d y_deriv_expected(sin(3.5), 1.2*cos(3.5));
+  RowVector2d y_deriv_expected(sin(3.5), 1.2 * cos(3.5));
   cost.Eval(x_ad, &y_ad);
   EXPECT_TRUE(CompareMatrices(math::ExtractValue(y_ad), y_expected));
   EXPECT_TRUE(CompareMatrices(math::ExtractGradient(y_ad), y_deriv_expected));

solvers/test/create_constraint_test.cc

@@ -112,8 +112,7 @@ void CheckParseLorentzConeConstraint(
     lesser = get_lhs_expression(f);
   }
   EXPECT_TRUE(symbolic::test::PolynomialEqual(
-      symbolic::Polynomial(z(0)), symbolic::Polynomial(greater),
-      1E-10));
+      symbolic::Polynomial(z(0)), symbolic::Polynomial(greater), 1E-10));
   ASSERT_TRUE(is_sqrt(lesser));
   EXPECT_TRUE(symbolic::test::PolynomialEqual(
       symbolic::Polynomial(z.tail(z.rows() - 1).squaredNorm()),
@@ -620,8 +619,7 @@ GTEST_TEST(ParseConstraintTest, FormulaWithInfiniteLowerOrUpperBounds) {
   Variable x0("x0"), x1("x1");
   Vector2<Variable> x(x0, x1);
   Vector2d b(0.12, kInf);
-  Binding<Constraint> binding =
-      internal::ParseConstraint(x <= b);
+  Binding<Constraint> binding = internal::ParseConstraint(x <= b);
   EXPECT_TRUE(CompareMatrices(binding.evaluator()->upper_bound(), b));
   binding = internal::ParseConstraint(-b <= x);
   // Note: The constraints are sorted via get_operands(f) which returns a

solvers/test/osqp_solver_test.cc

@@ -167,9 +167,8 @@ GTEST_TEST(OsqpSolverTest, EqualityConstrainedQPDualSolution2) {
   TestEqualityConstrainedQPDualSolution2(solver);
 }
 
-void AddTestProgram(
-    MathematicalProgram* prog,
-    const MatrixDecisionVariable<3, 1>& x) {
+void AddTestProgram(MathematicalProgram* prog,
+                    const MatrixDecisionVariable<3, 1>& x) {
   prog->AddLinearConstraint(x(0) + 2 * x(1) - 3 * x(2) <= 3);
   prog->AddLinearConstraint(4 * x(0) - 2 * x(1) - 6 * x(2) >= -3);
   prog->AddQuadraticCost(x(0) * x(0) + 2 * x(1) * x(1) + 5 * x(2) * x(2) +
@@ -360,8 +359,8 @@ GTEST_TEST(OsqpSolverTest, WarmStartPrimalOnly) {
     const int half_iterations =
         result.get_solver_details<OsqpSolver>().iter / 2;
     SolverOptions solver_options;
-    solver_options.SetOption(
-        osqp_solver.solver_id(), "max_iter", half_iterations);
+    solver_options.SetOption(osqp_solver.solver_id(), "max_iter",
+                             half_iterations);
     const Eigen::VectorXd x_sol = result.get_x_val();
     osqp_solver.Solve(prog, x_sol, solver_options, &result);
     EXPECT_EQ(result.get_solver_details<OsqpSolver>().status_val, OSQP_SOLVED);

solvers/test/semidefinite_relaxation_internal_test.cc

@@ -496,7 +496,7 @@ TEST_F(MakeSemidefiniteRelaxationTestFixture,
 
   ReinitializeRelaxation();
   DoAddImpliedLinearEqualityConstraints(prog_, X_, variables_to_sorted_indices_,
-                                relaxation_.get());
+                                        relaxation_.get());
 
   EXPECT_EQ(relaxation_->num_vars(), 6);
   EXPECT_EQ(relaxation_->positive_semidefinite_constraints().size(), 1);

solvers/test/snopt_solver_test.cc

@@ -387,11 +387,11 @@ GTEST_TEST(SnoptTest, MultiThreadTest) {
         *contents = std::regex_replace(
             *contents, std::regex(".Printer........................\\d"),
             "(Printer)..............      ####");
+      }
+      EXPECT_EQ(contents_single, contents_multi);
     }
-    EXPECT_EQ(contents_single, contents_multi);
   }
 }
-}
 
 class AutoDiffOnlyCost final : public drake::solvers::Cost {
  public: