1 files changed, 18 insertions, 26 deletions

diff --git a/extern/ceres/internal/ceres/linear_least_squares_problems.cc b/extern/ceres/internal/ceres/linear_least_squares_problems.cc
index 7c523d399e1..299051c5bcf 100644
--- a/extern/ceres/internal/ceres/linear_least_squares_problems.cc
+++ b/extern/ceres/internal/ceres/linear_least_squares_problems.cc
@@ -101,7 +101,7 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
 
   int counter = 0;
   for (int i = 0; i < 3; ++i) {
-    for (int j = 0; j< 2; ++j) {
+    for (int j = 0; j < 2; ++j) {
       Ai[counter] = i;
       Aj[counter] = j;
       ++counter;
@@ -132,7 +132,6 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
   return problem;
 }
 
-
 /*
       A = [1 0  | 2 0 0
            3 0  | 0 4 0
@@ -187,9 +186,8 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem1() {
   int num_cols = 5;
 
   LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
-  TripletSparseMatrix* A = new TripletSparseMatrix(num_rows,
-                                                   num_cols,
-                                                   num_rows * num_cols);
+  TripletSparseMatrix* A =
+      new TripletSparseMatrix(num_rows, num_cols, num_rows * num_cols);
   problem->b.reset(new double[num_rows]);
   problem->D.reset(new double[num_cols]);
   problem->num_eliminate_blocks = 2;
@@ -404,7 +402,6 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
   return problem;
 }
 
-
 /*
       A = [1 0
            3 0
@@ -620,8 +617,7 @@ bool DumpLinearLeastSquaresProblemToConsole(const SparseMatrix* A,
   LOG(INFO) << "A^T: \n" << AA.transpose();
 
   if (D != NULL) {
-    LOG(INFO) << "A's appended diagonal:\n"
-              << ConstVectorRef(D, A->num_cols());
+    LOG(INFO) << "A's appended diagonal:\n" << ConstVectorRef(D, A->num_cols());
   }
 
   if (b != NULL) {
@@ -659,10 +655,8 @@ bool DumpLinearLeastSquaresProblemToTextFile(const string& filename_base,
   string matlab_script;
   StringAppendF(&matlab_script,
                 "function lsqp = load_trust_region_problem()\n");
-  StringAppendF(&matlab_script,
-                "lsqp.num_rows = %d;\n", A->num_rows());
-  StringAppendF(&matlab_script,
-                "lsqp.num_cols = %d;\n", A->num_cols());
+  StringAppendF(&matlab_script, "lsqp.num_rows = %d;\n", A->num_rows());
+  StringAppendF(&matlab_script, "lsqp.num_cols = %d;\n", A->num_cols());
 
   {
     string filename = filename_base + "_A.txt";
@@ -670,8 +664,8 @@ bool DumpLinearLeastSquaresProblemToTextFile(const string& filename_base,
     CHECK(fptr != nullptr);
     A->ToTextFile(fptr);
     fclose(fptr);
-    StringAppendF(&matlab_script,
-                  "tmp = load('%s', '-ascii');\n", filename.c_str());
+    StringAppendF(
+        &matlab_script, "tmp = load('%s', '-ascii');\n", filename.c_str());
     StringAppendF(
         &matlab_script,
         "lsqp.A = sparse(tmp(:, 1) + 1, tmp(:, 2) + 1, tmp(:, 3), %d, %d);\n",
@@ -679,26 +673,25 @@ bool DumpLinearLeastSquaresProblemToTextFile(const string& filename_base,
         A->num_cols());
   }
 
-
   if (D != NULL) {
     string filename = filename_base + "_D.txt";
     WriteArrayToFileOrDie(filename, D, A->num_cols());
-    StringAppendF(&matlab_script,
-                  "lsqp.D = load('%s', '-ascii');\n", filename.c_str());
+    StringAppendF(
+        &matlab_script, "lsqp.D = load('%s', '-ascii');\n", filename.c_str());
   }
 
   if (b != NULL) {
     string filename = filename_base + "_b.txt";
     WriteArrayToFileOrDie(filename, b, A->num_rows());
-    StringAppendF(&matlab_script,
-                  "lsqp.b = load('%s', '-ascii');\n", filename.c_str());
+    StringAppendF(
+        &matlab_script, "lsqp.b = load('%s', '-ascii');\n", filename.c_str());
   }
 
   if (x != NULL) {
     string filename = filename_base + "_x.txt";
     WriteArrayToFileOrDie(filename, x, A->num_cols());
-    StringAppendF(&matlab_script,
-                  "lsqp.x = load('%s', '-ascii');\n", filename.c_str());
+    StringAppendF(
+        &matlab_script, "lsqp.x = load('%s', '-ascii');\n", filename.c_str());
   }
 
   string matlab_filename = filename_base + ".m";
@@ -716,12 +709,11 @@ bool DumpLinearLeastSquaresProblem(const string& filename_base,
                                    int num_eliminate_blocks) {
   switch (dump_format_type) {
     case CONSOLE:
-      return DumpLinearLeastSquaresProblemToConsole(A, D, b, x,
-                                                    num_eliminate_blocks);
+      return DumpLinearLeastSquaresProblemToConsole(
+          A, D, b, x, num_eliminate_blocks);
     case TEXTFILE:
-      return DumpLinearLeastSquaresProblemToTextFile(filename_base,
-                                                     A, D, b, x,
-                                                     num_eliminate_blocks);
+      return DumpLinearLeastSquaresProblemToTextFile(
+          filename_base, A, D, b, x, num_eliminate_blocks);
     default:
       LOG(FATAL) << "Unknown DumpFormatType " << dump_format_type;
   }