[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
2023-09-12 13:03:02 +00:00
parent c469601f95
commit 222a2520b1
435 changed files with 2669 additions and 2645 deletions
--- a/src/Mod/Sketcher/App/planegcs/GCS.cpp
+++ b/src/Mod/Sketcher/App/planegcs/GCS.cpp
@@ -72,11 +72,11 @@
 #endif
 #endif

-#if EIGEN_VERSION > 30290// This regulates that only starting in Eigen 3.3, the problem with
-                         // http://forum.freecad.org/viewtopic.php?f=3&t=4651&start=40
-                         // was solved in Eigen:
-                         // http://forum.freecad.org/viewtopic.php?f=10&t=12769&start=60#p106492
-                         // https://forum.kde.org/viewtopic.php?f=74&t=129439
+#if EIGEN_VERSION > 30290  // This regulates that only starting in Eigen 3.3, the problem with
+                           // http://forum.freecad.org/viewtopic.php?f=3&t=4651&start=40
+                           // was solved in Eigen:
+                           // http://forum.freecad.org/viewtopic.php?f=10&t=12769&start=60#p106492
+                           // https://forum.kde.org/viewtopic.php?f=74&t=129439
 #define EIGEN_STOCK_FULLPIVLU_COMPUTE
 #endif

@@ -146,7 +146,7 @@ FullPivLU<MatrixdType>& FullPivLU<MatrixdType>::compute(const MatrixdType& matri

        // correct the values! since they were computed in the corner,
        row_of_biggest_in_corner += k;
-        col_of_biggest_in_corner += k;// need to add k to them.
+        col_of_biggest_in_corner += k;  // need to add k to them.

        // when k==0, biggest_in_corner is the biggest coeff absolute value in the original
        // matrix
@@ -216,7 +216,7 @@ FullPivLU<MatrixdType>& FullPivLU<MatrixdType>::compute(const MatrixdType& matri
    return *this;
 }

-}// namespace Eigen
+}  // namespace Eigen
 #endif

 namespace GCS
@@ -317,7 +317,7 @@ void SolverReportingManager::LogToFile(const std::string& str)

    flushStream();
 #else
-    (void)(str);// silence unused parameter
+    (void)(str);  // silence unused parameter
    LogToConsole("Debugging to file not enabled!");
 #endif
 }
@@ -629,8 +629,8 @@ void System::clearByTag(int tagId)
 int System::addConstraint(Constraint* constr)
 {
    isInit = false;
-    if (constr->getTag() >= 0) {// negatively tagged constraints have no impact
-        hasDiagnosis = false;   // on the diagnosis
+    if (constr->getTag() >= 0) {  // negatively tagged constraints have no impact
+        hasDiagnosis = false;     // on the diagnosis
    }

    clist.push_back(constr);
@@ -1784,9 +1784,9 @@ void System::calculateNormalAtPoint(const Curve& crv,

 double System::calculateConstraintErrorByTag(int tagId)
 {
-    int cnt = 0;       // how many constraints have been accumulated
-    double sqErr = 0.0;// accumulator of squared errors
-    double err = 0.0;  // last computed signed error value
+    int cnt = 0;         // how many constraints have been accumulated
+    double sqErr = 0.0;  // accumulator of squared errors
+    double err = 0.0;    // last computed signed error value

    for (std::vector<Constraint*>::const_iterator constr = clist.begin(); constr != clist.end();
         ++constr) {
@@ -1797,7 +1797,7 @@ double System::calculateConstraintErrorByTag(int tagId)
        };
    }
    switch (cnt) {
-        case 0:// constraint not found!
+        case 0:  // constraint not found!
            return std::numeric_limits<double>::quiet_NaN();
            break;
        case 1:
@@ -1899,9 +1899,9 @@ void System::initSolution(Algorithm alg)
    }

    // identification of equality constraints and parameter reduction
-    std::set<Constraint*> reducedConstrs;// constraints that will be eliminated through reduction
-    reductionmaps.clear();               // destroy any maps
-    reductionmaps.resize(componentsSize);// create empty maps to be filled in
+    std::set<Constraint*> reducedConstrs;  // constraints that will be eliminated through reduction
+    reductionmaps.clear();                 // destroy any maps
+    reductionmaps.resize(componentsSize);  // create empty maps to be filled in
    {
        VEC_pD reducedParams = plist;

@@ -1932,8 +1932,8 @@ void System::initSolution(Algorithm alg)
        }
    }

-    clists.clear();               // destroy any lists
-    clists.resize(componentsSize);// create empty lists to be filled in
+    clists.clear();                 // destroy any lists
+    clists.resize(componentsSize);  // create empty lists to be filled in
    int i = int(plist.size());
    for (std::vector<Constraint*>::const_iterator constr = clistR.begin(); constr != clistR.end();
         ++constr, i++) {
@@ -1943,8 +1943,8 @@ void System::initSolution(Algorithm alg)
        }
    }

-    plists.clear();               // destroy any lists
-    plists.resize(componentsSize);// create empty lists to be filled in
+    plists.clear();                 // destroy any lists
+    plists.resize(componentsSize);  // create empty lists to be filled in
    for (int i = 0; i < int(plist.size()); ++i) {
        int cid = components[i];
        plists[cid].push_back(plist[i]);
@@ -1960,7 +1960,7 @@ void System::initSolution(Algorithm alg)
            if ((*constr)->getTag() >= 0) {
                clist0.push_back(*constr);
            }
-            else {// move or distance from reference constraints
+            else {  // move or distance from reference constraints
                clist1.push_back(*constr);
            }
        }
@@ -2096,7 +2096,7 @@ int System::solve_BFGS(SubSystem* subsys, bool /*isFine*/, bool isRedundantsolvi

    h = x;
    subsys->getParams(x);
-    h = x - h;// = x - xold
+    h = x - h;  // = x - xold

    // double convergence = isFine ? convergence : XconvergenceRough;
    int maxIterNumber =
@@ -2129,7 +2129,7 @@ int System::solve_BFGS(SubSystem* subsys, bool /*isFine*/, bool isRedundantsolvi
            }
            break;
        }
-        if (err > divergingLim || err != err) {// check for diverging and NaN
+        if (err > divergingLim || err != err) {  // check for diverging and NaN
            if (debugMode == IterationLevel) {
                std::stringstream stream;
                stream << "BFGS Failed: Diverging!!: "
@@ -2143,7 +2143,7 @@ int System::solve_BFGS(SubSystem* subsys, bool /*isFine*/, bool isRedundantsolvi

        y = grad;
        subsys->calcGrad(grad);
-        y = grad - y;// = grad - gradold
+        y = grad - y;  // = grad - gradold

        double hty = h.dot(y);
        // make sure that hty is never 0
@@ -2165,7 +2165,7 @@ int System::solve_BFGS(SubSystem* subsys, bool /*isFine*/, bool isRedundantsolvi

        h = x;
        subsys->getParams(x);
-        h = x - h;// = x - xold
+        h = x - h;  // = x - xold

        if (debugMode == IterationLevel) {
            std::stringstream stream;
@@ -2202,8 +2202,8 @@ int System::solve_LM(SubSystem* subsys, bool isRedundantsolving)
    }

    Eigen::VectorXd e(csize),
-        e_new(csize);// vector of all function errors (every constraint is one function)
-    Eigen::MatrixXd J(csize, xsize);// Jacobi of the subsystem
+        e_new(csize);  // vector of all function errors (every constraint is one function)
+    Eigen::MatrixXd J(csize, xsize);  // Jacobi of the subsystem
    Eigen::MatrixXd A(xsize, xsize);
    Eigen::VectorXd x(xsize), h(xsize), x_new(xsize), g(xsize), diag_A(xsize);

@@ -2240,11 +2240,11 @@ int System::solve_LM(SubSystem* subsys, bool isRedundantsolving)

        // check error
        double err = e.squaredNorm();
-        if (err <= eps * eps) {// error is small, Success
+        if (err <= eps * eps) {  // error is small, Success
            stop = 1;
            break;
        }
-        else if (err > divergingLim || err != err) {// check for diverging and NaN
+        else if (err > divergingLim || err != err) {  // check for diverging and NaN
            stop = 6;
            break;
        }
@@ -2258,7 +2258,7 @@ int System::solve_LM(SubSystem* subsys, bool isRedundantsolving)

        // Compute ||J^T e||_inf
        double g_inf = g.lpNorm<Eigen::Infinity>();
-        diag_A = A.diagonal();// save diagonal entries so that augmentation can be later canceled
+        diag_A = A.diagonal();  // save diagonal entries so that augmentation can be later canceled

        // check for convergence
        if (g_inf <= eps1) {
@@ -2297,12 +2297,12 @@ int System::solve_LM(SubSystem* subsys, bool isRedundantsolving)
                x_new = x + h;
                h_norm = h.squaredNorm();

-                if (h_norm <= eps1 * eps1 * x.norm()) {// relative change in p is small, stop
+                if (h_norm <= eps1 * eps1 * x.norm()) {  // relative change in p is small, stop
                    stop = 3;
                    break;
                }
                else if (h_norm
-                         >= (x.norm() + eps1) / (DBL_EPSILON * DBL_EPSILON)) {// almost singular
+                         >= (x.norm() + eps1) / (DBL_EPSILON * DBL_EPSILON)) {  // almost singular
                    stop = 4;
                    break;
                }
@@ -2314,7 +2314,7 @@ int System::solve_LM(SubSystem* subsys, bool isRedundantsolving)
                double dF = e.squaredNorm() - e_new.squaredNorm();
                double dL = h.dot(mu * h + g);

-                if (dF > 0. && dL > 0.) {// reduction in error, increment is accepted
+                if (dF > 0. && dL > 0.) {  // reduction in error, increment is accepted
                    double tmp = 2 * dF / dL - 1.;
                    mu *= std::max(1. / 3., 1. - tmp * tmp * tmp);
                    nu = 2;
@@ -2331,7 +2331,7 @@ int System::solve_LM(SubSystem* subsys, bool isRedundantsolving)

            mu *= nu;
            nu *= 2.0;
-            for (int i = 0; i < xsize; ++i) {// restore diagonal J^T J entries
+            for (int i = 0; i < xsize; ++i) {  // restore diagonal J^T J entries
                A(i, i) = diag_A(i);
            }

@@ -2428,7 +2428,7 @@ int System::solve_DL(SubSystem* subsys, bool isRedundantsolving)
    while (!stop) {

        // check if finished
-        if (fx_inf <= tolf) {// Success
+        if (fx_inf <= tolf) {  // Success
            stop = 1;
        }
        else if (g_inf <= tolg) {
@@ -2440,7 +2440,7 @@ int System::solve_DL(SubSystem* subsys, bool isRedundantsolving)
        else if (iter >= maxIterNumber) {
            stop = 4;
        }
-        else if (err > divergingLim || err != err) {// check for diverging and NaN
+        else if (err > divergingLim || err != err) {  // check for diverging and NaN
            stop = 6;
        }
        else {
@@ -2584,7 +2584,7 @@ int System::solve_DL(SubSystem* subsys, bool isRedundantsolving)
 #ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
 void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
 {
-    VEC_pD plistout;// std::vector<double *>
+    VEC_pD plistout;  // std::vector<double *>
    std::vector<Constraint*> clist_;
    VEC_pD clist_params_;

@@ -2600,9 +2600,10 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)

    int ip = 0;

-    subsystemfile << "GCS::VEC_pD plist_;" << std::endl;                   // all SYSTEM params
-    subsystemfile << "std::vector<GCS::Constraint *> clist_;" << std::endl;// SUBSYSTEM constraints
-    subsystemfile << "GCS::VEC_pD plistsub_;" << std::endl;                // all SUBSYSTEM params
+    subsystemfile << "GCS::VEC_pD plist_;" << std::endl;  // all SYSTEM params
+    subsystemfile << "std::vector<GCS::Constraint *> clist_;"
+                  << std::endl;                              // SUBSYSTEM constraints
+    subsystemfile << "GCS::VEC_pD plistsub_;" << std::endl;  // all SUBSYSTEM params
    // constraint params not within SYSTEM params
    subsystemfile << "GCS::VEC_pD clist_params_;" << std::endl;

@@ -2626,12 +2627,12 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
        subsystemfile << "plistsub_.push_back(plist_[" << p_index << "]); // " << ips << std::endl;
    }

-    int ic = 0; // constraint index
-    int icp = 0;// index of constraint params not within SYSTEM params
+    int ic = 0;   // constraint index
+    int icp = 0;  // index of constraint params not within SYSTEM params
    for (std::vector<Constraint*>::iterator it = clist_.begin(); it != clist_.end(); ++it, ++ic) {

        switch ((*it)->getTypeId()) {
-            case Equal: {// 2
+            case Equal: {  // 2
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                size_t i1 = std::distance(plist.begin(), p1);
@@ -2682,7 +2683,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << "," << (*it)->pvec[1] << std::endl;
                break;
            }
-            case Difference: {// 3
+            case Difference: {  // 3
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -2756,7 +2757,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << "," << (*it)->pvec[2] << std::endl;
                break;
            }
-            case P2PDistance: {// 5
+            case P2PDistance: {  // 5
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -2888,7 +2889,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << (*it)->pvec[4] << std::endl;
                break;
            }
-            case P2PAngle: {// 5
+            case P2PAngle: {  // 5
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -3020,7 +3021,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << (*it)->pvec[4] << std::endl;
                break;
            }
-            case P2LDistance: {// 7
+            case P2LDistance: {  // 7
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -3201,7 +3202,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << std::endl;
                break;
            }
-            case PointOnLine: {// 6
+            case PointOnLine: {  // 6
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -3357,7 +3358,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << (*it)->pvec[4] << "," << (*it)->pvec[5] << std::endl;
                break;
            }
-            case PointOnPerpBisector: {// 6
+            case PointOnPerpBisector: {  // 6
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -3513,7 +3514,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << (*it)->pvec[4] << "," << (*it)->pvec[5] << std::endl;
                break;
            }
-            case Parallel: {// 8
+            case Parallel: {  // 8
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -3718,7 +3719,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << "," << (*it)->pvec[7] << std::endl;
                break;
            }
-            case Perpendicular: {// 8
+            case Perpendicular: {  // 8
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -3923,7 +3924,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << "," << (*it)->pvec[7] << std::endl;
                break;
            }
-            case L2LAngle: {// 9
+            case L2LAngle: {  // 9
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -4152,7 +4153,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << "," << (*it)->pvec[7] << "," << (*it)->pvec[8] << std::endl;
                break;
            }
-            case MidpointOnLine: {// 8
+            case MidpointOnLine: {  // 8
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -4357,7 +4358,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << "," << (*it)->pvec[7] << std::endl;
                break;
            }
-            case TangentCircumf: {// 6
+            case TangentCircumf: {  // 6
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -4517,7 +4518,7 @@ void System::extractSubsystem(SubSystem* subsys, bool isRedundantsolving)
                              << (*it)->pvec[4] << "," << (*it)->pvec[5] << std::endl;
                break;
            }
-            case PointOnEllipse: {// 7
+            case PointOnEllipse: {  // 7
                VEC_pD::iterator p1 = std::find(plist.begin(), plist.end(), (*it)->pvec[0]);
                VEC_pD::iterator p2 = std::find(plist.begin(), plist.end(), (*it)->pvec[1]);
                VEC_pD::iterator p3 = std::find(plist.begin(), plist.end(), (*it)->pvec[2]);
@@ -4757,7 +4758,7 @@ int System::solve(SubSystem* subsysA, SubSystem* subsysB, bool /*isFine*/, bool

    subsysB->getParams(plistAB, x);
    subsysA->getParams(plistAB, x);
-    subsysB->setParams(plistAB, x);// just to ensure that A and B are synchronized
+    subsysB->setParams(plistAB, x);  // just to ensure that A and B are synchronized

    subsysB->calcGrad(plistAB, grad);
    subsysA->calcJacobi(plistAB, JA);
@@ -4823,7 +4824,7 @@ int System::solve(SubSystem* subsysA, SubSystem* subsysB, bool /*isFine*/, bool
                    // xdir1 = JA.jacobiSvd(Eigen::ComputeThinU |
                    // Eigen::ComputeThinV).solve(-resA);
                    xdir1 = -Y * resA;
-                    x += xdir1;// = x0 + alpha * xdir + xdir1
+                    x += xdir1;  // = x0 + alpha * xdir + xdir1
                    subsysA->setParams(plistAB, x);
                    subsysB->setParams(plistAB, x);
                    subsysA->calcResidual(resA);
@@ -4833,7 +4834,7 @@ int System::solve(SubSystem* subsysA, SubSystem* subsysB, bool /*isFine*/, bool
                    }
                }
                alpha = tau * alpha;
-                if (alpha < 1e-8) {// let the linesearch fail
+                if (alpha < 1e-8) {  // let the linesearch fail
                    alpha = 0.;
                }
                x = x0 + alpha * xdir;
@@ -4841,7 +4842,7 @@ int System::solve(SubSystem* subsysA, SubSystem* subsysB, bool /*isFine*/, bool
                subsysB->setParams(plistAB, x);
                subsysA->calcResidual(resA);
                f = subsysB->error() + mu * resA.lpNorm<1>();
-                if (alpha < 1e-8) {// let the linesearch fail
+                if (alpha < 1e-8) {  // let the linesearch fail
                    break;
                }
            }
@@ -4855,7 +4856,7 @@ int System::solve(SubSystem* subsysA, SubSystem* subsysB, bool /*isFine*/, bool
            subsysA->calcJacobi(plistAB, JA);
            subsysA->calcResidual(resA);
        }
-        y = grad - JA.transpose() * lambda - y;// Eq. 18.13
+        y = grad - JA.transpose() * lambda - y;  // Eq. 18.13

        if (iter > 1) {
            double yTh = y.dot(h);
@@ -4872,7 +4873,7 @@ int System::solve(SubSystem* subsysA, SubSystem* subsysB, bool /*isFine*/, bool
            && err <= smallF) {
            break;
        }
-        if (err > divergingLim || err != err) {// check for diverging and NaN
+        if (err > divergingLim || err != err) {  // check for diverging and NaN
            break;
        }
    }
@@ -4956,7 +4957,7 @@ void System::makeReducedJacobian(Eigen::MatrixXd& J,
        }
    }

-    if (jacobianconstraintcount == 0) {// only driven constraints
+    if (jacobianconstraintcount == 0) {  // only driven constraints
        J.resize(0, 0);
    }
 }
@@ -5098,7 +5099,7 @@ int System::diagnose(Algorithm alg)
        Base::TimeInfo DenseQR_start_time;
 #endif
        if (J.rows() > 0) {
-            int rank = 0;// rank is not cheap to retrieve from qrJT in DenseQR
+            int rank = 0;  // rank is not cheap to retrieve from qrJT in DenseQR
            Eigen::MatrixXd R;
            Eigen::FullPivHouseholderQR<Eigen::MatrixXd> qrJT;
            // Here we give the system the possibility to run the two QR decompositions in parallel,
@@ -5131,12 +5132,12 @@ int System::diagnose(Algorithm alg)
            // identifyDependentGeometryParametersInTransposedJacobianDenseQRDecomposition( qrJT,
            // pdiagnoselist, paramsNum, rank);

-            fut.wait();// wait for the execution of identifyDependentParametersSparseQR to finish
+            fut.wait();  // wait for the execution of identifyDependentParametersSparseQR to finish

-            dofs = paramsNum - rank;// unless overconstraint, which will be overridden below
+            dofs = paramsNum - rank;  // unless overconstraint, which will be overridden below

            // Detecting conflicting or redundant constraints
-            if (constrNum > rank) {// conflicting or redundant constraints
+            if (constrNum > rank) {  // conflicting or redundant constraints
                int nonredundantconstrNum;
                identifyConflictingRedundantConstraints(alg,
                                                        qrJT,
@@ -5147,7 +5148,7 @@ int System::diagnose(Algorithm alg)
                                                        constrNum,
                                                        rank,
                                                        nonredundantconstrNum);
-                if (paramsNum == rank && nonredundantconstrNum > rank) {// over-constrained
+                if (paramsNum == rank && nonredundantconstrNum > rank) {  // over-constrained
                    dofs = paramsNum - nonredundantconstrNum;
                }
            }
@@ -5204,9 +5205,9 @@ int System::diagnose(Algorithm alg)
            int paramsNum = SqrJT.rows();
            int constrNum = SqrJT.cols();

-            fut.wait();// wait for the execution of identifyDependentParametersSparseQR to finish
+            fut.wait();  // wait for the execution of identifyDependentParametersSparseQR to finish

-            dofs = paramsNum - rank;// unless overconstraint, which will be overridden below
+            dofs = paramsNum - rank;  // unless overconstraint, which will be overridden below

            // Detecting conflicting or redundant constraints
            if (constrNum > rank) {
@@ -5223,7 +5224,7 @@ int System::diagnose(Algorithm alg)
                                                        rank,
                                                        nonredundantconstrNum);

-                if (paramsNum == rank && nonredundantconstrNum > rank) {// over-constrained
+                if (paramsNum == rank && nonredundantconstrNum > rank) {  // over-constrained
                    dofs = paramsNum - nonredundantconstrNum;
                }
            }
@@ -5258,9 +5259,9 @@ void System::makeDenseQRDecomposition(const Eigen::MatrixXd& J,
 #endif

 #ifdef _GCS_DEBUG_SOLVER_JACOBIAN_QR_DECOMPOSITION_TRIANGULAR_MATRIX
-    Eigen::MatrixXd Q; // Obtaining the Q matrix with Sparse QR is buggy, see comments below
-    Eigen::MatrixXd R2;// Intended for a trapezoidal matrix, where R is the top triangular matrix of
-                       // the R2 trapezoidal matrix
+    Eigen::MatrixXd Q;   // Obtaining the Q matrix with Sparse QR is buggy, see comments below
+    Eigen::MatrixXd R2;  // Intended for a trapezoidal matrix, where R is the top triangular matrix
+                         // of the R2 trapezoidal matrix
 #endif

    // For a transposed J SJG rows are paramsNum and cols are constrNum
@@ -5346,9 +5347,9 @@ void System::makeSparseQRDecomposition(
 #endif

 #ifdef _GCS_DEBUG_SOLVER_JACOBIAN_QR_DECOMPOSITION_TRIANGULAR_MATRIX
-    Eigen::MatrixXd Q; // Obtaining the Q matrix with Sparse QR is buggy, see comments below
-    Eigen::MatrixXd R2;// Intended for a trapezoidal matrix, where R is the top triangular matrix of
-                       // the R2 trapezoidal matrix
+    Eigen::MatrixXd Q;   // Obtaining the Q matrix with Sparse QR is buggy, see comments below
+    Eigen::MatrixXd R2;  // Intended for a trapezoidal matrix, where R is the top triangular matrix
+                         // of the R2 trapezoidal matrix
 #endif

    // For a transposed J SJG rows are paramsNum and cols are constrNum
@@ -5412,9 +5413,9 @@ void System::makeSparseQRDecomposition(
        SolverReportingManager::Manager().LogMatrix("Q", Q);
 #endif
    }
-#endif//_GCS_DEBUG_SOLVER_JACOBIAN_QR_DECOMPOSITION_TRIANGULAR_MATRIX
+#endif  //_GCS_DEBUG_SOLVER_JACOBIAN_QR_DECOMPOSITION_TRIANGULAR_MATRIX
 }
-#endif// EIGEN_SPARSEQR_COMPATIBLE
+#endif  // EIGEN_SPARSEQR_COMPATIBLE

 void System::identifyDependentParametersDenseQR(const Eigen::MatrixXd& J,
                                                const std::map<int, int>& jacobianconstraintmap,
@@ -5448,7 +5449,7 @@ void System::identifyDependentParametersSparseQR(const Eigen::MatrixXd& J,
                              nontransprank,
                              Rparams,
                              false,
-                              true);// do not transpose allow to diagnose parameters
+                              true);  // do not transpose allow to diagnose parameters

    identifyDependentParameters(SqrJ, Rparams, nontransprank, pdiagnoselist, silent);
 }
@@ -5461,8 +5462,8 @@ void System::identifyDependentParameters(T& qrJ,
                                         const GCS::VEC_pD& pdiagnoselist,
                                         bool silent)
 {
-    (void)silent;// silent is only used in debug code, but it is important as Base::Console is not
-                 // thread-safe. Removes warning in non Debug mode.
+    (void)silent;  // silent is only used in debug code, but it is important as Base::Console is not
+                   // thread-safe. Removes warning in non Debug mode.

    // int constrNum = SqrJ.rows(); // this is the other way around than for the transposed J
    // int paramsNum = SqrJ.cols();
@@ -5662,9 +5663,9 @@ void System::identifyConflictingRedundantConstraints(
                    bool isinternalalignment =
                        (constr->isInternalAlignment() == Constraint::Alignment::InternalAlignment);
                    bool priorityconstraint = (constr->getTag() == 0);
-                    if (!priorityconstraint && !isinternalalignment) {// exclude constraints tagged
-                                                                      // with zero and internal
-                                                                      // alignment
+                    if (!priorityconstraint && !isinternalalignment) {  // exclude constraints
+                                                                        // tagged with zero and
+                                                                        // internal alignment
                        conflictingMap[constr].insert(i);
                    }
                }
@@ -5682,7 +5683,7 @@ void System::identifyConflictingRedundantConstraints(
             ++it) {

            int numberofsets = static_cast<int>(
-                it->second.size());// number of sets in which the constraint appears
+                it->second.size());  // number of sets in which the constraint appears

            /* This is a heuristic algorithm to propose the user which constraints from a
             * redundant/conflicting set should be removed. It is based on the following principles:
@@ -5702,16 +5703,16 @@ void System::identifyConflictingRedundantConstraints(
             * introduced.
             */

-            if ((numberofsets > maxPopularity ||// (1)
+            if ((numberofsets > maxPopularity ||  // (1)
                 (numberofsets == maxPopularity && mostPopular
                  && tagmultiplicity.at(it->first->getTag())
                      < tagmultiplicity.at(mostPopular->getTag()))
-                 ||// (2)
+                 ||  // (2)

                 (numberofsets == maxPopularity && mostPopular
                  && tagmultiplicity.at(it->first->getTag())
                      == tagmultiplicity.at(mostPopular->getTag())
-                  && it->first->getTag() > mostPopular->getTag()))// (3)
+                  && it->first->getTag() > mostPopular->getTag()))  // (3)

            ) {
                mostPopular = it->first;
@@ -5760,10 +5761,10 @@ void System::identifyConflictingRedundantConstraints(
            case 0:
                solvername = "BFGS";
                break;
-            case 1:// solving with the LevenbergMarquardt solver
+            case 1:  // solving with the LevenbergMarquardt solver
                solvername = "LevenbergMarquardt";
                break;
-            case 2:// solving with the BFGS solver
+            case 2:  // solving with the BFGS solver
                solvername = "DogLeg";
                break;
        }
@@ -5822,8 +5823,8 @@ void System::identifyConflictingRedundantConstraints(
            bool isinternalalignment = (conflictGroups[i][j]->isInternalAlignment()
                                        == Constraint::Alignment::InternalAlignment);
            if (conflictGroups[i][j]->getTag() != 0
-                && !isinternalalignment) {// exclude constraints tagged with zero and internal
-                                          // alignment
+                && !isinternalalignment) {  // exclude constraints tagged with zero and internal
+                                            // alignment
                conflictingTagsSet.insert(conflictGroups[i][j]->getTag());
            }
        }
@@ -6016,4 +6017,4 @@ void free(std::vector<SubSystem*>& subsysvec)
 }


-}// namespace GCS
+}  // namespace GCS