[cicd] upgrade format tool for support

.github/workflows/format.yml

@@ -15,8 +15,11 @@ jobs:
     - name: "Install"
       run: |
         pip install cmakelang
+        wget https://apt.llvm.org/llvm.sh
+        chmod +x llvm.sh
+        sudo ./llvm.sh 16 all
     - name: "Test"
       run: |
         find . -iname "*.hpp" -o -iname "*.tpp" -o -iname "*.cpp" -o -iwholename "./support/format" | xargs \
-          clang-format-14 --Werror --dry-run --verbose -style=file
+          clang-format-16 --Werror --dry-run --verbose -style=file
         cmake-format --check CMakeLists.txt

include/fcarouge/internal/kalman.tpp

@@ -81,15 +81,16 @@ template <typename State, typename Output, typename Input, typename UpdateTypes,
             "discarded.")]] inline constexpr auto
 kalman<State, Output, Input, UpdateTypes, PredictionTypes>::u() const
     -> const input &requires(not std::is_same_v<Input, void>) {
-  return filter.u;
-}
+      return filter.u;
+    }
 
 template <typename State, typename Output, typename Input, typename UpdateTypes,
           typename PredictionTypes>
 [[nodiscard("The returned estimated covariance matrix P is unexpectedly "
-            "discarded.")]] inline constexpr auto
-kalman<State, Output, Input, UpdateTypes, PredictionTypes>::p() const
-    -> const estimate_uncertainty & {
+            "discarded.")]] inline constexpr auto kalman<State, Output, Input,
+                                                         UpdateTypes,
+                                                         PredictionTypes>::p()
+    const -> const estimate_uncertainty & {
   return filter.p;
 }
 
@@ -244,24 +245,26 @@ template <typename State, typename Output, typename Input, typename UpdateTypes,
             "discarded.")]] inline constexpr auto
 kalman<State, Output, Input, UpdateTypes, PredictionTypes>::g() const
     -> const input_control &requires(not std::is_same_v<Input, void>) {
-  return filter.g;
-}
+      return filter.g;
+    }
 
 template <typename State, typename Output, typename Input, typename UpdateTypes,
           typename PredictionTypes>
 [[nodiscard("The returned control transition matrix G is unexpectedly "
-            "discarded.")]] inline constexpr auto
-kalman<State, Output, Input, UpdateTypes, PredictionTypes>::g()
+            "discarded.")]] inline constexpr auto kalman<State, Output, Input,
+                                                         UpdateTypes,
+                                                         PredictionTypes>::g()
     -> input_control &requires(not std::is_same_v<Input, void>) {
-  return filter.g;
-}
+      return filter.g;
+    }
 
 template <typename State, typename Output, typename Input, typename UpdateTypes,
           typename PredictionTypes>
-inline constexpr void
-kalman<State, Output, Input, UpdateTypes, PredictionTypes>::g(
-    const auto &value,
-    const auto &...values) requires(not std::is_same_v<Input, void>) {
+inline constexpr void kalman<State, Output, Input, UpdateTypes,
+                             PredictionTypes>::g(const auto &value,
+                                                 const auto &...values)
+  requires(not std::is_same_v<Input, void>)
+{
   if constexpr (std::is_convertible_v<decltype(value), input_control>) {
     filter.g = std::move(input_control{value, values...});
   } else {

include/fcarouge/internal/utility.hpp

@@ -51,9 +51,7 @@ template <typename Type>
 concept algebraic = not arithmetic<Type>;
 
 template <typename Type>
-concept eigen = requires {
-  typename Type::PlainMatrix;
-};
+concept eigen = requires { typename Type::PlainMatrix; };
 
 struct empty {
   inline constexpr explicit empty([[maybe_unused]] auto &&...any) noexcept {
@@ -65,7 +63,9 @@ template <typename...> struct pack {};
 
 using empty_pack = pack<>;
 
-template <typename Type> struct repack { using type = Type; };
+template <typename Type> struct repack {
+  using type = Type;
+};
 
 template <template <typename...> typename From, typename... Types>
 struct repack<From<Types...>> {
@@ -94,7 +94,7 @@ template <arithmetic Arithmetic>
 inline constexpr Arithmetic identity_v<Arithmetic>{1};
 
 template <typename Matrix>
-requires requires(Matrix value) { value.Identity(); }
+  requires requires(Matrix value) { value.Identity(); }
 inline const auto identity_v<Matrix>{Matrix::Identity()};
 
 template <typename Type>
@@ -106,7 +106,7 @@ template <arithmetic Arithmetic>
 inline constexpr Arithmetic zero_v<Arithmetic>{0};
 
 template <typename Matrix>
-requires requires(Matrix value) { value.Zero(); }
+  requires requires(Matrix value) { value.Zero(); }
 inline const auto zero_v<Matrix>{Matrix::Zero()};
 
 struct transpose final {
@@ -117,7 +117,7 @@ struct transpose final {
   }
 
   template <typename Matrix>
-  requires requires(Matrix value) { value.transpose(); }
+    requires requires(Matrix value) { value.transpose(); }
   [[nodiscard]] inline constexpr auto operator()(const Matrix &value) const {
     return value.transpose();
   }

include/fcarouge/kalman.hpp

@@ -518,9 +518,8 @@ class kalman final {
   //! control transition matrix G.
   //!
   //! @complexity Constant.
-  inline constexpr void
-  g(const auto &value,
-    const auto &...values) requires(not std::is_same_v<Input, void>);
+  inline constexpr void g(const auto &value, const auto &...values)
+    requires(not std::is_same_v<Input, void>);
 
   //! @brief Returns the gain matrix K.
   //!