1 files changed, 11 insertions, 15 deletions

diff --git a/extern/ceres/internal/ceres/triplet_sparse_matrix.cc b/extern/ceres/internal/ceres/triplet_sparse_matrix.cc
index 54b588ba466..5dbf0e7cd3a 100644
--- a/extern/ceres/internal/ceres/triplet_sparse_matrix.cc
+++ b/extern/ceres/internal/ceres/triplet_sparse_matrix.cc
@@ -43,11 +43,7 @@ namespace ceres {
 namespace internal {
 
 TripletSparseMatrix::TripletSparseMatrix()
-    : num_rows_(0),
-      num_cols_(0),
-      max_num_nonzeros_(0),
-      num_nonzeros_(0) {}
-
+    : num_rows_(0), num_cols_(0), max_num_nonzeros_(0), num_nonzeros_(0) {}
 
 TripletSparseMatrix::~TripletSparseMatrix() {}
 
@@ -111,9 +107,11 @@ TripletSparseMatrix& TripletSparseMatrix::operator=(
 
 bool TripletSparseMatrix::AllTripletsWithinBounds() const {
   for (int i = 0; i < num_nonzeros_; ++i) {
+    // clang-format off
     if ((rows_[i] < 0) || (rows_[i] >= num_rows_) ||
         (cols_[i] < 0) || (cols_[i] >= num_cols_))
       return false;
+    // clang-format on
   }
   return true;
 }
@@ -123,8 +121,7 @@ void TripletSparseMatrix::Reserve(int new_max_num_nonzeros) {
       << "Reallocation will cause data loss";
 
   // Nothing to do if we have enough space already.
-  if (new_max_num_nonzeros <= max_num_nonzeros_)
-    return;
+  if (new_max_num_nonzeros <= max_num_nonzeros_) return;
 
   int* new_rows = new int[new_max_num_nonzeros];
   int* new_cols = new int[new_max_num_nonzeros];
@@ -168,15 +165,15 @@ void TripletSparseMatrix::CopyData(const TripletSparseMatrix& orig) {
   }
 }
 
-void TripletSparseMatrix::RightMultiply(const double* x,  double* y) const {
+void TripletSparseMatrix::RightMultiply(const double* x, double* y) const {
   for (int i = 0; i < num_nonzeros_; ++i) {
-    y[rows_[i]] += values_[i]*x[cols_[i]];
+    y[rows_[i]] += values_[i] * x[cols_[i]];
   }
 }
 
 void TripletSparseMatrix::LeftMultiply(const double* x, double* y) const {
   for (int i = 0; i < num_nonzeros_; ++i) {
-    y[cols_[i]] += values_[i]*x[rows_[i]];
+    y[cols_[i]] += values_[i] * x[rows_[i]];
   }
 }
 
@@ -226,10 +223,9 @@ void TripletSparseMatrix::AppendCols(const TripletSparseMatrix& B) {
   num_cols_ = num_cols_ + B.num_cols();
 }
 
-
 void TripletSparseMatrix::Resize(int new_num_rows, int new_num_cols) {
   if ((new_num_rows >= num_rows_) && (new_num_cols >= num_cols_)) {
-    num_rows_  = new_num_rows;
+    num_rows_ = new_num_rows;
     num_cols_ = new_num_cols;
     return;
   }
@@ -245,9 +241,9 @@ void TripletSparseMatrix::Resize(int new_num_rows, int new_num_cols) {
   for (int i = 0; i < num_nonzeros_; ++i) {
     if ((r_ptr[i] < num_rows_) && (c_ptr[i] < num_cols_)) {
       if (dropped_terms) {
-        r_ptr[i-dropped_terms] = r_ptr[i];
-        c_ptr[i-dropped_terms] = c_ptr[i];
-        v_ptr[i-dropped_terms] = v_ptr[i];
+        r_ptr[i - dropped_terms] = r_ptr[i];
+        c_ptr[i - dropped_terms] = c_ptr[i];
+        v_ptr[i - dropped_terms] = v_ptr[i];
       }
     } else {
       ++dropped_terms;