t/imu: No fancy new c++ syntax until clang-format-8 is used on CI

Go to your room clang-format and think about what you have done.

src/xrt/auxiliary/tracking/t_imu.cpp

@@ -26,35 +26,44 @@ struct imu_fusion
  * API functions
  */
 struct imu_fusion *
-imu_fusion_create() try
+imu_fusion_create()
 {
-	auto fusion = std::make_unique<imu_fusion>();
-	return fusion.release();
-} catch (...) {
-	return NULL;
+	try {
+		auto fusion = std::make_unique<imu_fusion>();
+		return fusion.release();
+	} catch (...) {
+		return NULL;
+	}
 }
 
 void
-imu_fusion_destroy(struct imu_fusion *fusion) try {
-	delete fusion;
-} catch (...) {
-	assert(false && "Caught exception on destroy");
+imu_fusion_destroy(struct imu_fusion *fusion)
+{
+	try {
+		delete fusion;
+	} catch (...) {
+		assert(false && "Caught exception on destroy");
+	}
 }
 
 int
 imu_fusion_incorporate_gyros(struct imu_fusion *fusion,
                              float dt,
                              struct xrt_vec3 const *ang_vel,
-                             struct xrt_vec3 const *variance) try {
-	assert(fusion);
-	assert(ang_vel);
-	assert(variance);
-
-	fusion->simple_fusion.handleGyro(map_vec3(*ang_vel).cast<double>(), dt);
-	return 0;
-} catch (...) {
-	assert(false && "Caught exception on incorporate gyros");
-	return -1;
+                             struct xrt_vec3 const *variance)
+{
+	try {
+		assert(fusion);
+		assert(ang_vel);
+		assert(variance);
+
+		fusion->simple_fusion.handleGyro(
+		    map_vec3(*ang_vel).cast<double>(), dt);
+		return 0;
+	} catch (...) {
+		assert(false && "Caught exception on incorporate gyros");
+		return -1;
+	}
 }
 
 int
@@ -63,72 +72,85 @@ imu_fusion_incorporate_accelerometer(struct imu_fusion *fusion,
                                      struct xrt_vec3 const *accel,
                                      float scale,
                                      struct xrt_vec3 const *reference,
-                                     struct xrt_vec3 const *variance) try {
-	assert(fusion);
-	assert(accel);
-	assert(variance);
-
-	fusion->simple_fusion.handleAccel(map_vec3(*accel).cast<double>(), dt);
-	return 0;
-} catch (...) {
-	assert(false && "Caught exception on incorporate accelerometer");
-	return -1;
+                                     struct xrt_vec3 const *variance)
+{
+	try {
+		assert(fusion);
+		assert(accel);
+		assert(variance);
+
+		fusion->simple_fusion.handleAccel(
+		    map_vec3(*accel).cast<double>(), dt);
+		return 0;
+	} catch (...) {
+		assert(false &&
+		       "Caught exception on incorporate accelerometer");
+		return -1;
+	}
 }
 
 int
 imu_fusion_get_prediction(struct imu_fusion const *fusion,
                           float dt,
                           struct xrt_quat *out_quat,
-                          struct xrt_vec3 *out_ang_vel) try {
-	assert(fusion);
-	assert(out_quat);
-	assert(out_ang_vel);
-	if (!fusion->simple_fusion.valid()) {
-		return -2;
-	}
-
-	map_vec3(*out_ang_vel) =
-	    fusion->simple_fusion.getAngVel().cast<float>();
-	if (dt == 0) {
-		// No need to predict here.
-		map_quat(*out_quat) =
-		    fusion->simple_fusion.getQuat().cast<float>();
+                          struct xrt_vec3 *out_ang_vel)
+{
+	try {
+		assert(fusion);
+		assert(out_quat);
+		assert(out_ang_vel);
+		if (!fusion->simple_fusion.valid()) {
+			return -2;
+		}
+
+		map_vec3(*out_ang_vel) =
+		    fusion->simple_fusion.getAngVel().cast<float>();
+		if (dt == 0) {
+			// No need to predict here.
+			map_quat(*out_quat) =
+			    fusion->simple_fusion.getQuat().cast<float>();
+			return 0;
+		}
+		Eigen::Quaterniond predicted_quat =
+		    fusion->simple_fusion.getPredictedQuat(dt);
+		map_quat(*out_quat) = predicted_quat.cast<float>();
 		return 0;
+
+	} catch (...) {
+		assert(false && "Caught exception on getting prediction");
+		return -1;
 	}
-	Eigen::Quaterniond predicted_quat =
-	    fusion->simple_fusion.getPredictedQuat(dt);
-	map_quat(*out_quat) = predicted_quat.cast<float>();
-	return 0;
-
-} catch (...) {
-	assert(false && "Caught exception on getting prediction");
-	return -1;
 }
 
 int
 imu_fusion_get_prediction_rotation_vec(struct imu_fusion const *fusion,
                                        float dt,
-                                       struct xrt_vec3 *out_rotation_vec) try {
-	assert(fusion);
-	assert(out_rotation_vec);
-
-	if (!fusion->simple_fusion.valid()) {
-		return -2;
-	}
-	if (dt == 0) {
-		// No need to predict here.
-		map_vec3(*out_rotation_vec) =
-		    fusion->simple_fusion.getRotationVec().cast<float>();
-	} else {
-		Eigen::Quaterniond predicted_quat =
-		    fusion->simple_fusion.getPredictedQuat(dt);
-		map_vec3(*out_rotation_vec) =
-		    flexkalman::util::quat_ln(predicted_quat).cast<float>();
+                                       struct xrt_vec3 *out_rotation_vec)
+{
+	try {
+		assert(fusion);
+		assert(out_rotation_vec);
+
+		if (!fusion->simple_fusion.valid()) {
+			return -2;
+		}
+		if (dt == 0) {
+			// No need to predict here.
+			map_vec3(*out_rotation_vec) =
+			    fusion->simple_fusion.getRotationVec()
+			        .cast<float>();
+		} else {
+			Eigen::Quaterniond predicted_quat =
+			    fusion->simple_fusion.getPredictedQuat(dt);
+			map_vec3(*out_rotation_vec) =
+			    flexkalman::util::quat_ln(predicted_quat)
+			        .cast<float>();
+		}
+		return 0;
+	} catch (...) {
+		assert(false && "Caught exception on getting prediction");
+		return -1;
 	}
-	return 0;
-} catch (...) {
-	assert(false && "Caught exception on getting prediction");
-	return -1;
 }
 
 int
@@ -140,22 +162,26 @@ imu_fusion_incorporate_gyros_and_accelerometer(
     struct xrt_vec3 const *accel,
     float accel_scale,
     struct xrt_vec3 const *accel_reference,
-    struct xrt_vec3 const *accel_variance) try {
-	assert(fusion);
-	assert(ang_vel);
-	assert(ang_vel_variance);
-	assert(accel);
-	assert(accel_reference);
-	assert(accel_variance);
-
-	Eigen::Vector3d accelVec = map_vec3(*accel).cast<double>();
-	Eigen::Vector3d angVelVec = map_vec3(*ang_vel).cast<double>();
-	fusion->simple_fusion.handleAccel(accelVec, dt);
-	fusion->simple_fusion.handleGyro(angVelVec, dt);
-	fusion->simple_fusion.postCorrect();
-	return 0;
-} catch (...) {
-	assert(false &&
-	       "Caught exception on incorporate gyros and accelerometer");
-	return -1;
+    struct xrt_vec3 const *accel_variance)
+{
+	try {
+		assert(fusion);
+		assert(ang_vel);
+		assert(ang_vel_variance);
+		assert(accel);
+		assert(accel_reference);
+		assert(accel_variance);
+
+		Eigen::Vector3d accelVec = map_vec3(*accel).cast<double>();
+		Eigen::Vector3d angVelVec = map_vec3(*ang_vel).cast<double>();
+		fusion->simple_fusion.handleAccel(accelVec, dt);
+		fusion->simple_fusion.handleGyro(angVelVec, dt);
+		fusion->simple_fusion.postCorrect();
+		return 0;
+	} catch (...) {
+		assert(
+		    false &&
+		    "Caught exception on incorporate gyros and accelerometer");
+		return -1;
+	}
 }

[Ryan Pavlik]

LOL! That's certainly one way to solve it. Pretty sure this isn't new to C++, just new to the code base, but yeah that works for me.