[clang-format] Set language standard to C++17

.clang-format

@@ -151,6 +151,6 @@ SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
-Standard: Auto
+Standard: c++17
 TabWidth: 2
 UseTab: Never

dart/common/AspectWithVersion.hpp

@@ -43,7 +43,7 @@ template <
     class DerivedT,
     typename StateDataT,
     class CompositeT = Composite,
-    void (*updateState)(DerivedT*) = &detail::NoOp<DerivedT*> >
+    void (*updateState)(DerivedT*) = &detail::NoOp<DerivedT*>>
 using AspectWithState = detail::AspectWithState<
     CompositeTrackingAspect<CompositeT>,
     DerivedT,
@@ -56,7 +56,7 @@ template <
     class DerivedT,
     typename PropertiesDataT,
     class CompositeT = Composite,
-    void (*updateProperties)(DerivedT*) = &detail::NoOp<DerivedT*> >
+    void (*updateProperties)(DerivedT*) = &detail::NoOp<DerivedT*>>
 using AspectWithVersionedProperties = detail::AspectWithVersionedProperties<
     CompositeTrackingAspect<CompositeT>,
     DerivedT,

dart/common/Cloneable.hpp

@@ -303,7 +303,7 @@ class CloneableVector
   CloneableVector& operator=(const CloneableVector& other);
 
   /// Create a copy of this CloneableVector's contents
-  std::unique_ptr<CloneableVector<T> > clone() const;
+  std::unique_ptr<CloneableVector<T>> clone() const;
 
   /// Copy the contents of another cloneable vector into this one.
   void copy(const CloneableVector<T>& anotherVector);

dart/common/Composite.cpp

@@ -57,9 +57,8 @@ template <
     typename ObjectType,
     class DataType,
     const DataType* (ObjectType::*getData)() const,
-    typename ObjectMap
-    = std::map<std::type_index, std::unique_ptr<ObjectType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType> > >
+    typename ObjectMap = std::map<std::type_index, std::unique_ptr<ObjectType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType>>>
 static void extractDataFromObjectTypeMap(
     DataMap& dataMap, const ObjectMap& objectMap)
 {
@@ -113,9 +112,8 @@ template <
     typename ObjectType,
     class DataType,
     void (ObjectType::*setData)(const DataType&),
-    typename ObjectMap
-    = std::map<std::type_index, std::unique_ptr<ObjectType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType> > >
+    typename ObjectMap = std::map<std::type_index, std::unique_ptr<ObjectType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType>>>
 static void setObjectsFromDataTypeMap(
     ObjectMap& objectMap, const DataMap& dataMap)
 {

dart/common/Composite.hpp

@@ -55,7 +55,7 @@ class Composite
   using State = detail::CompositeState;
   using Properties = detail::CompositeProperties;
 
-  using AspectMap = std::map<std::type_index, std::unique_ptr<Aspect> >;
+  using AspectMap = std::map<std::type_index, std::unique_ptr<Aspect>>;
   using RequiredAspectSet = std::unordered_set<std::type_index>;
 
   template <typename... Aspects>

dart/common/CompositeJoiner.hpp

@@ -130,7 +130,7 @@ class CompositeJoiner<Base1, Base2> : public Base1, public Base2
 /// you to include arbitrarily many base classes in the joining.
 template <class Base1, class Base2, class... OtherBases>
 class CompositeJoiner<Base1, Base2, OtherBases...>
-  : public CompositeJoiner<Base1, CompositeJoiner<Base2, OtherBases...> >
+  : public CompositeJoiner<Base1, CompositeJoiner<Base2, OtherBases...>>
 {
 public:
   /// Default constructor

dart/common/EmbeddedAspect.hpp

@@ -89,7 +89,7 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 
 template <class DerivedT, typename StateDataT>
 class EmbedState : public virtual common::RequiresAspect<
-                       common::EmbeddedStateAspect<DerivedT, StateDataT> >
+                       common::EmbeddedStateAspect<DerivedT, StateDataT>>
 {
 public:
   using Derived = DerivedT;
@@ -200,7 +200,7 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class DerivedT, typename PropertiesDataT>
 class EmbedProperties
   : public virtual common::RequiresAspect<
-        common::EmbeddedPropertiesAspect<DerivedT, PropertiesDataT> >
+        common::EmbeddedPropertiesAspect<DerivedT, PropertiesDataT>>
 {
 public:
   using Derived = DerivedT;
@@ -377,7 +377,7 @@ class EmbedStateAndProperties : public virtual common::RequiresAspect<
                                     common::EmbeddedStateAndPropertiesAspect<
                                         DerivedT,
                                         StateDataT,
-                                        PropertiesDataT> >
+                                        PropertiesDataT>>
 {
 public:
   using Derived = DerivedT;

dart/common/RequiresAspect.hpp

@@ -66,8 +66,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class ReqAspect1, class... OtherReqAspects>
 class RequiresAspect<ReqAspect1, OtherReqAspects...>
   : public CompositeJoiner<
-        Virtual<RequiresAspect<ReqAspect1> >,
-        Virtual<RequiresAspect<OtherReqAspects...> > >
+        Virtual<RequiresAspect<ReqAspect1>>,
+        Virtual<RequiresAspect<OtherReqAspects...>>>
 {
 };
 

dart/common/SpecializedForAspect.hpp

@@ -192,8 +192,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class SpecAspect1, class... OtherSpecAspects>
 class SpecializedForAspect<SpecAspect1, OtherSpecAspects...>
   : public CompositeJoiner<
-        Virtual<SpecializedForAspect<SpecAspect1> >,
-        Virtual<SpecializedForAspect<OtherSpecAspects...> > >
+        Virtual<SpecializedForAspect<SpecAspect1>>,
+        Virtual<SpecializedForAspect<OtherSpecAspects...>>>
 {
 public:
   virtual ~SpecializedForAspect() = default;

dart/common/detail/AspectWithVersion.hpp

@@ -49,7 +49,7 @@ template <
     class DerivedT,
     typename StateDataT,
     class CompositeT = Composite,
-    void (*updateState)(DerivedT*) = &NoOp<DerivedT*> >
+    void (*updateState)(DerivedT*) = &NoOp<DerivedT*>>
 class AspectWithState : public BaseT
 {
 public:
@@ -104,7 +104,7 @@ template <
     class DerivedT,
     typename PropertiesDataT,
     class CompositeT = Composite,
-    void (*updateProperties)(DerivedT*) = &NoOp<DerivedT*> >
+    void (*updateProperties)(DerivedT*) = &NoOp<DerivedT*>>
 class AspectWithVersionedProperties : public BaseT
 {
 public:

dart/common/detail/EmbeddedAspect.hpp

@@ -78,7 +78,7 @@ template <
     void (*setEmbeddedState)(DerivedT*, const StateT&)
     = &DefaultSetEmbeddedState<DerivedT, StateT>,
     const StateT& (*getEmbeddedState)(const DerivedT*)
-    = &DefaultGetEmbeddedState<DerivedT, StateT> >
+    = &DefaultGetEmbeddedState<DerivedT, StateT>>
 class EmbeddedStateAspect : public BaseT
 {
 public:
@@ -245,7 +245,7 @@ template <
     void (*setEmbeddedProperties)(DerivedT*, const PropertiesT&)
     = &DefaultSetEmbeddedProperties<DerivedT, PropertiesT>,
     const PropertiesT& (*getEmbeddedProperties)(const DerivedT*)
-    = &DefaultGetEmbeddedProperties<DerivedT, PropertiesT> >
+    = &DefaultGetEmbeddedProperties<DerivedT, PropertiesT>>
 class EmbeddedPropertiesAspect : public BaseT
 {
 protected:

dart/dynamics/BodyNode.cpp

@@ -54,8 +54,8 @@ namespace dynamics {
 template <
     class DataType,
     std::unique_ptr<DataType> (Node::*getData)() const,
-    typename VectorType = common::CloneableVector<std::unique_ptr<DataType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType> > >
+    typename VectorType = common::CloneableVector<std::unique_ptr<DataType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType>>>
 static void extractDataFromNodeTypeMap(
     DataMap& dataMap, const BodyNode::NodeMap& nodeMap)
 {
@@ -84,8 +84,8 @@ static void extractDataFromNodeTypeMap(
 template <
     class DataType,
     void (Node::*setData)(const DataType&),
-    typename VectorType = common::CloneableVector<std::unique_ptr<DataType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType> > >
+    typename VectorType = common::CloneableVector<std::unique_ptr<DataType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType>>>
 static void setNodesFromDataTypeMap(
     BodyNode::NodeMap& nodeMap, const DataMap& dataMap)
 {
@@ -95,7 +95,7 @@ static void setNodesFromDataTypeMap(
   while (nodeMap.end() != node_it && dataMap.end() != data_it) {
     if (node_it->first == data_it->first) {
       const std::vector<Node*>& node_vec = node_it->second;
-      const std::vector<std::unique_ptr<DataType> >& data_vec
+      const std::vector<std::unique_ptr<DataType>>& data_vec
           = data_it->second->getVector();
 
       // TODO(MXG): Should we report if the dimensions are mismatched?

dart/dynamics/HierarchicalIK.cpp

@@ -272,8 +272,7 @@
   mNullSpaceCache.resize(hierarchy.size());
   bool zeroedNullSpace = false;
   for (std::size_t i = 0; i < hierarchy.size(); ++i) {
-    const std::vector<std::shared_ptr<InverseKinematics> >& level
-        = hierarchy[i];
+    const std::vector<std::shared_ptr<InverseKinematics>>& level = hierarchy[i];
 
     Eigen::MatrixXd& NS = mNullSpaceCache[i];
     if (i == 0) {
@@ -472,8 +471,7 @@
 
   double cost = 0.0;
   for (std::size_t i = 0; i < hierarchy.size(); ++i) {
-    const std::vector<std::shared_ptr<InverseKinematics> >& level
-        = hierarchy[i];
+    const std::vector<std::shared_ptr<InverseKinematics>>& level = hierarchy[i];
 
     for (std::size_t j = 0; j < level.size(); ++j) {
       const std::shared_ptr<InverseKinematics>& ik = level[j];
@@ -509,8 +507,7 @@
 
   _grad.setZero();
   for (std::size_t i = 0; i < hierarchy.size(); ++i) {
-    const std::vector<std::shared_ptr<InverseKinematics> >& level
-        = hierarchy[i];
+    const std::vector<std::shared_ptr<InverseKinematics>>& level = hierarchy[i];
 
     mLevelGradCache.setZero(nDofs);
     for (std::size_t j = 0; j < level.size(); ++j) {

dart/dynamics/HierarchicalIK.hpp

@@ -45,7 +45,7 @@ namespace dynamics {
 /// their gradients added. Precedence of the modules decreases as the index of
 /// the outer vector increases. Modules with lower precedence will be projected
 /// through the null spaces of modules with higher precedence.
-typedef std::vector<std::vector<std::shared_ptr<InverseKinematics> > >
+typedef std::vector<std::vector<std::shared_ptr<InverseKinematics>>>
     IKHierarchy;
 
 /// The HierarchicalIK class provides a convenient way of setting up a
@@ -351,8 +351,8 @@ class HierarchicalIK : public common::Subject
 class CompositeIK : public HierarchicalIK
 {
 public:
-  typedef std::unordered_set<std::shared_ptr<InverseKinematics> > ModuleSet;
-  typedef std::unordered_set<std::shared_ptr<const InverseKinematics> >
+  typedef std::unordered_set<std::shared_ptr<InverseKinematics>> ModuleSet;
+  typedef std::unordered_set<std::shared_ptr<const InverseKinematics>>
       ConstModuleSet;
 
   /// Create a CompositeIK module
@@ -385,7 +385,7 @@ class CompositeIK : public HierarchicalIK
   CompositeIK(const SkeletonPtr& _skel);
 
   /// The set of modules being used by this CompositeIK
-  std::unordered_set<std::shared_ptr<InverseKinematics> > mModuleSet;
+  std::unordered_set<std::shared_ptr<InverseKinematics>> mModuleSet;
 };
 
 /// The WholeBodyIK class provides an interface for simultaneously solving all

dart/dynamics/NodeManagerJoiner.hpp

@@ -101,7 +101,7 @@ template <class Base1, class Base2, class... OtherBases>
 class NodeManagerJoinerForBodyNode<Base1, Base2, OtherBases...>
   : public NodeManagerJoinerForBodyNode<
         Base1,
-        NodeManagerJoinerForBodyNode<Base2, OtherBases...> >
+        NodeManagerJoinerForBodyNode<Base2, OtherBases...>>
 {
 public:
   NodeManagerJoinerForBodyNode() = default;
@@ -173,7 +173,7 @@ template <class Base1, class Base2, class... OtherBases>
 class NodeManagerJoinerForSkeleton<Base1, Base2, OtherBases...>
   : public NodeManagerJoinerForSkeleton<
         Base1,
-        NodeManagerJoinerForSkeleton<Base2, OtherBases...> >
+        NodeManagerJoinerForSkeleton<Base2, OtherBases...>>
 {
 public:
   NodeManagerJoinerForSkeleton() = default;

dart/dynamics/PointCloudShape.cpp

@@ -205,13 +205,13 @@ Eigen::Vector4d PointCloudShape::getOverallColor() const
 void PointCloudShape::setColors(
     const std::vector<
         Eigen::Vector4d,
-        Eigen::aligned_allocator<Eigen::Vector4d> >& colors)
+        Eigen::aligned_allocator<Eigen::Vector4d>>& colors)
 {
   mColors = colors;
 }
 
 //==============================================================================
-const std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d> >&
+const std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d>>&
 PointCloudShape::getColors() const
 {
   return mColors;

dart/dynamics/SoftBodyNode.cpp

@@ -1431,26 +1431,26 @@ SoftBodyNode::UniqueProperties SoftBodyNodeHelper::makeBoxProperties(
 
   std::vector<PointPair> corners(nCorners);
 
-  std::vector<std::vector<PointPair> > edgeX(
+  std::vector<std::vector<PointPair>> edgeX(
       4, std::vector<PointPair>(nVerticesAtEdgeX));
-  std::vector<std::vector<PointPair> > edgeY(
+  std::vector<std::vector<PointPair>> edgeY(
       4, std::vector<PointPair>(nVerticesAtEdgeY));
-  std::vector<std::vector<PointPair> > edgeZ(
+  std::vector<std::vector<PointPair>> edgeZ(
       4, std::vector<PointPair>(nVerticesAtEdgeZ));
 
-  std::vector<std::vector<PointPair> > sideXNeg(
+  std::vector<std::vector<PointPair>> sideXNeg(
       nVerticesAtEdgeY, std::vector<PointPair>(nVerticesAtEdgeZ));
-  std::vector<std::vector<PointPair> > sideXPos(
+  std::vector<std::vector<PointPair>> sideXPos(
       nVerticesAtEdgeY, std::vector<PointPair>(nVerticesAtEdgeZ));
 
-  std::vector<std::vector<PointPair> > sideYNeg(
+  std::vector<std::vector<PointPair>> sideYNeg(
       nVerticesAtEdgeZ, std::vector<PointPair>(nVerticesAtEdgeX));
-  std::vector<std::vector<PointPair> > sideYPos(
+  std::vector<std::vector<PointPair>> sideYPos(
       nVerticesAtEdgeZ, std::vector<PointPair>(nVerticesAtEdgeX));
 
-  std::vector<std::vector<PointPair> > sideZNeg(
+  std::vector<std::vector<PointPair>> sideZNeg(
       nVerticesAtEdgeX, std::vector<PointPair>(nVerticesAtEdgeY));
-  std::vector<std::vector<PointPair> > sideZPos(
+  std::vector<std::vector<PointPair>> sideZPos(
       nVerticesAtEdgeX, std::vector<PointPair>(nVerticesAtEdgeY));
 
   Eigen::Vector3d x0y0z0

dart/dynamics/SpecializedNodeManager.hpp

@@ -113,8 +113,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class SpecNode1, class... OtherSpecNodes>
 class BodyNodeSpecializedFor<SpecNode1, OtherSpecNodes...>
   : public NodeManagerJoinerForBodyNode<
-        common::Virtual<BodyNodeSpecializedFor<SpecNode1> >,
-        common::Virtual<BodyNodeSpecializedFor<OtherSpecNodes...> > >
+        common::Virtual<BodyNodeSpecializedFor<SpecNode1>>,
+        common::Virtual<BodyNodeSpecializedFor<OtherSpecNodes...>>>
 {
 };
 
@@ -217,8 +217,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class SpecNode1, class... OtherSpecNodes>
 class SkeletonSpecializedFor<SpecNode1, OtherSpecNodes...>
   : public NodeManagerJoinerForSkeleton<
-        common::Virtual<SkeletonSpecializedFor<SpecNode1> >,
-        common::Virtual<SkeletonSpecializedFor<OtherSpecNodes...> > >
+        common::Virtual<SkeletonSpecializedFor<SpecNode1>>,
+        common::Virtual<SkeletonSpecializedFor<OtherSpecNodes...>>>
 {
 };
 

dart/dynamics/detail/BasicNodeManager.hpp

@@ -50,9 +50,9 @@ namespace detail {
 class BasicNodeManagerForBodyNode
 {
 public:
-  using NodeMap = std::map<std::type_index, std::vector<Node*> >;
+  using NodeMap = std::map<std::type_index, std::vector<Node*>>;
   using NodeDestructorSet = std::unordered_set<NodeDestructorPtr>;
-  using NodeNameMgrMap = std::map<std::type_index, common::NameManager<Node*> >;
+  using NodeNameMgrMap = std::map<std::type_index, common::NameManager<Node*>>;
   using SpecializedTreeNodes
       = std::map<std::type_index, std::vector<NodeMap::iterator>*>;
 

dart/dynamics/detail/BodyNodeAspect.hpp

@@ -116,16 +116,16 @@ struct BodyNodeAspectProperties
 
 //==============================================================================
 using NodeTypeStateVector
-    = common::CloneableVector<std::unique_ptr<Node::State> >;
+    = common::CloneableVector<std::unique_ptr<Node::State>>;
 using NodeStateMap
-    = std::map<std::type_index, std::unique_ptr<NodeTypeStateVector> >;
+    = std::map<std::type_index, std::unique_ptr<NodeTypeStateVector>>;
 using AllNodeStates = common::CloneableMap<NodeStateMap>;
 
 //==============================================================================
 using NodeTypePropertiesVector
-    = common::CloneableVector<std::unique_ptr<Node::Properties> >;
+    = common::CloneableVector<std::unique_ptr<Node::Properties>>;
 using NodePropertiesMap
-    = std::map<std::type_index, std::unique_ptr<NodeTypePropertiesVector> >;
+    = std::map<std::type_index, std::unique_ptr<NodeTypePropertiesVector>>;
 using AllNodeProperties = common::CloneableMap<NodePropertiesMap>;
 
 //==============================================================================
@@ -168,7 +168,7 @@ using BodyNodeCompositeBase = common::EmbedStateAndPropertiesOnTopOf<
     BodyNode,
     BodyNodeState,
     BodyNodeAspectProperties,
-    common::RequiresAspect<NodeVectorProxyAspect> >;
+    common::RequiresAspect<NodeVectorProxyAspect>>;
 
 } // namespace detail
 } // namespace dynamics

dart/dynamics/detail/EndEffectorAspect.hpp

@@ -97,7 +97,7 @@ void SupportUpdate(Support* support);
 
 using EndEffectorCompositeBase = CompositeNode<common::CompositeJoiner<
     FixedJacobianNode,
-    common::SpecializedForAspect<Support> > >;
+    common::SpecializedForAspect<Support>>>;
 
 } // namespace detail
 } // namespace dynamics