Auto Formatting with clang-format-6.0 (#727)

* Add clang-format

* Auto-format AlphaFilter and RingBuffer

* Update to tab=8spaces

* Allow for 120 width

EKF/AlphaFilter.hpp

@@ -38,34 +38,26 @@
 
 #pragma once
 
-template<typename T>
-class AlphaFilter final
-{
+template <typename T>
+class AlphaFilter final {
 public:
 	AlphaFilter() = default;
 	~AlphaFilter() = default;
 
 	void reset(const T &val) { _x = val; }
 
-	void update(const T &input, float tau, float dt)
-	{
-		const float alpha = dt / tau; 
+	void update(const T &input, float tau, float dt) {
+		const float alpha = dt / tau;
 		update(input, alpha);
 	}
 
-	void update(const T &input, float alpha)
-	{
-		_x = (1.f - alpha) * _x + alpha * input;
-	}
+	void update(const T &input, float alpha) { _x = (1.f - alpha) * _x + alpha * input; }
 
 	// Typical 0.9/0.1 lowpass filter
-	void update(const T &input)
-	{
-		update(input, 0.1f);
-	}
+	void update(const T &input) { update(input, 0.1f); }
 
-	const T& getState() const { return _x; }
+	const T &getState() const { return _x; }
 
 private:
-	T _x{}; ///< current state of the filter
+	T _x{};  ///< current state of the filter
 };

EKF/RingBuffer.h

@@ -42,11 +42,9 @@
 #include <cstring>
 
 template <typename data_type>
-class RingBuffer
-{
+class RingBuffer {
 public:
-	RingBuffer()
-	{
+	RingBuffer() {
 		if (allocate(1)) {
 			// initialize with one empty sample
 			data_type d = {};
@@ -61,8 +59,7 @@ public:
 	RingBuffer(RingBuffer &&) = delete;
 	RingBuffer &operator=(RingBuffer &&) = delete;
 
-	bool allocate(uint8_t size)
-	{
+	bool allocate(uint8_t size) {
 		if (_buffer != nullptr) {
 			delete[] _buffer;
 		}
@@ -78,7 +75,8 @@ public:
 		_head = 0;
 		_tail = 0;
 
-		// set the time elements to zero so that bad data is not retrieved from the buffers
+		// set the time elements to zero so that bad data is not
+		// retrieved from the buffers
 		for (uint8_t index = 0; index < _size; index++) {
 			_buffer[index] = {};
 		}
@@ -88,14 +86,12 @@ public:
 		return true;
 	}
 
-	void unallocate()
-	{
+	void unallocate() {
 		delete[] _buffer;
 		_buffer = nullptr;
 	}
 
-	void push(const data_type &sample)
-	{
+	void push(const data_type &sample) {
 		uint8_t head_new = _head;
 
 		if (!_first_write) {
@@ -123,19 +119,18 @@ public:
 
 	uint8_t get_oldest_index() const { return _tail; }
 
-	bool pop_first_older_than(const uint64_t &timestamp, data_type *sample)
-	{
+	bool pop_first_older_than(const uint64_t &timestamp, data_type *sample) {
 		// start looking from newest observation data
 		for (uint8_t i = 0; i < _size; i++) {
 			int index = (_head - i);
 			index = index < 0 ? _size + index : index;
 
 			if (timestamp >= _buffer[index].time_us && timestamp - _buffer[index].time_us < (uint64_t)1e5) {
-
 				*sample = _buffer[index];
 
-				// Now we can set the tail to the item which comes after the one we removed
-				// since we don't want to have any older data in the buffer
+				// Now we can set the tail to the item which
+				// comes after the one we removed since we don't
+				// want to have any older data in the buffer
 				if (index == _head) {
 					_tail = _head;
 					_first_write = true;
@@ -150,7 +145,8 @@ public:
 			}
 
 			if (index == _tail) {
-				// we have reached the tail and haven't got a match
+				// we have reached the tail and haven't got a
+				// match
 				return false;
 			}
 		}