Format using BORG conventions

gtsam/base/VerticalBlockMatrix.h

@@ -38,8 +38,7 @@ namespace gtsam {
  * the matrix (i.e. one after the last true row index).
  *
  * @addtogroup base */
-  class GTSAM_EXPORT VerticalBlockMatrix
-  {
+class GTSAM_EXPORT VerticalBlockMatrix {
 public:
   typedef VerticalBlockMatrix This;
   typedef Eigen::Block<Matrix> Block;
@@ -57,8 +56,7 @@ namespace gtsam {
 
   /** Construct an empty VerticalBlockMatrix */
   VerticalBlockMatrix() :
-      rowStart_(0), rowEnd_(0), blockStart_(0)
-    {
+      rowStart_(0), rowEnd_(0), blockStart_(0) {
     variableColOffsets_.push_back(0);
     assertInvariants();
   }
@@ -66,8 +64,7 @@ namespace gtsam {
   /** Construct from a container of the sizes of each vertical block. */
   template<typename CONTAINER>
   VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height) :
-      rowStart_(0), rowEnd_(height), blockStart_(0)
-    {
+      rowStart_(0), rowEnd_(height), blockStart_(0) {
     fillOffsets(dimensions.begin(), dimensions.end());
     matrix_.resize(height, variableColOffsets_.back());
     assertInvariants();
@@ -76,20 +73,20 @@ namespace gtsam {
   /** Construct from a container of the sizes of each vertical block and a pre-prepared matrix. */
   template<typename CONTAINER>
   VerticalBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
-      matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0)
-    {
+      matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0) {
     fillOffsets(dimensions.begin(), dimensions.end());
     if (variableColOffsets_.back() != matrix_.cols())
-        throw std::invalid_argument("Requested to create a VerticalBlockMatrix with dimensions that do not sum to the total columns of the provided matrix.");
+      throw std::invalid_argument(
+          "Requested to create a VerticalBlockMatrix with dimensions that do not sum to the total columns of the provided matrix.");
     assertInvariants();
   }
 
   /**
    * Construct from iterator over the sizes of each vertical block. */
   template<typename ITERATOR>
-    VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, DenseIndex height) :
-      rowStart_(0), rowEnd_(height), blockStart_(0)
-    {
+  VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim,
+      DenseIndex height) :
+      rowStart_(0), rowEnd_(height), blockStart_(0) {
     fillOffsets(firstBlockDim, lastBlockDim);
     matrix_.resize(height, variableColOffsets_.back());
     assertInvariants();
@@ -105,22 +102,36 @@ namespace gtsam {
   /** Copy the block structure, but do not copy the matrix data. If blockStart() has been
    *   modified, this copies the structure of the corresponding matrix view. In the destination
    *   VerticalBlockMatrix, blockStart() will be 0. */
-    static VerticalBlockMatrix LikeActiveViewOf(const SymmetricBlockMatrix& rhs, DenseIndex height);
+  static VerticalBlockMatrix LikeActiveViewOf(const SymmetricBlockMatrix& rhs,
+      DenseIndex height);
 
   /// Row size
-    DenseIndex rows() const { assertInvariants(); return rowEnd_ - rowStart_; }
+  DenseIndex rows() const {
+    assertInvariants();
+    return rowEnd_ - rowStart_;
+  }
 
   /// Column size
-    DenseIndex cols() const { assertInvariants(); return variableColOffsets_.back() - variableColOffsets_[blockStart_]; }
+  DenseIndex cols() const {
+    assertInvariants();
+    return variableColOffsets_.back() - variableColOffsets_[blockStart_];
+  }
 
   /// Block count
-    DenseIndex nBlocks() const { assertInvariants(); return variableColOffsets_.size() - 1 - blockStart_; }
+  DenseIndex nBlocks() const {
+    assertInvariants();
+    return variableColOffsets_.size() - 1 - blockStart_;
+  }
 
   /** Access a single block in the underlying matrix with read/write access */
-    Block operator()(DenseIndex block) { return range(block, block+1); }
+  Block operator()(DenseIndex block) {
+    return range(block, block + 1);
+  }
 
   /** Access a const block view */
-    const constBlock operator()(DenseIndex block) const { return range(block, block+1); }
+  const constBlock operator()(DenseIndex block) const {
+    return range(block, block + 1);
+  }
 
   /** access ranges of blocks at a time */
   Block range(DenseIndex startBlock, DenseIndex endBlock) {
@@ -146,14 +157,19 @@ namespace gtsam {
     }
     const DenseIndex startCol = variableColOffsets_[actualStartBlock];
     const DenseIndex rangeCols = variableColOffsets_[actualEndBlock] - startCol;
-      return ((const Matrix&)matrix_).block(rowStart_, startCol, this->rows(), rangeCols);
+    return ((const Matrix&) matrix_).block(rowStart_, startCol, this->rows(),
+        rangeCols);
   }
 
   /** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
-    Block full() { return range(0, nBlocks()); }
+  Block full() {
+    return range(0, nBlocks());
+  }
 
   /** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
-    const constBlock full() const { return range(0, nBlocks()); }
+  const constBlock full() const {
+    return range(0, nBlocks());
+  }
 
   DenseIndex offset(DenseIndex block) const {
     assertInvariants();
@@ -163,28 +179,44 @@ namespace gtsam {
   }
 
   /** Get or set the apparent first row of the underlying matrix for all operations */
-    DenseIndex& rowStart() { return rowStart_; }
+  DenseIndex& rowStart() {
+    return rowStart_;
+  }
 
   /** Get or set the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
-    DenseIndex& rowEnd() { return rowEnd_; }
+  DenseIndex& rowEnd() {
+    return rowEnd_;
+  }
 
   /** Get or set the apparent first block for all operations */
-    DenseIndex& firstBlock() { return blockStart_; }
+  DenseIndex& firstBlock() {
+    return blockStart_;
+  }
 
   /** Get the apparent first row of the underlying matrix for all operations */
-    DenseIndex rowStart() const { return rowStart_; }
+  DenseIndex rowStart() const {
+    return rowStart_;
+  }
 
   /** Get the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
-    DenseIndex rowEnd() const { return rowEnd_; }
+  DenseIndex rowEnd() const {
+    return rowEnd_;
+  }
 
   /** Get the apparent first block for all operations */
-    DenseIndex firstBlock() const { return blockStart_; }
+  DenseIndex firstBlock() const {
+    return blockStart_;
+  }
 
   /** Access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
-    const Matrix& matrix() const { return matrix_; }
+  const Matrix& matrix() const {
+    return matrix_;
+  }
 
   /** Non-const access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
-    Matrix& matrix() { return matrix_; }
+  Matrix& matrix() {
+    return matrix_;
+  }
 
 protected:
   void assertInvariants() const {
@@ -198,7 +230,8 @@ namespace gtsam {
   void checkBlock(DenseIndex block) const {
     assert(matrix_.cols() == variableColOffsets_.back());
     assert(block < (DenseIndex)variableColOffsets_.size() - 1);
-      assert(variableColOffsets_[block] < matrix_.cols() && variableColOffsets_[block+1] <= matrix_.cols());
+    assert(
+        variableColOffsets_[block] < matrix_.cols() && variableColOffsets_[block+1] <= matrix_.cols());
   }
 
   template<typename ITERATOR>