lint

multibody/parsing/detail_multibody_plant_subgraph.cc

@@ -333,62 +333,51 @@ void CheckPlantAggregate(GetFunction get_func, const T* item) {
 }
 
 template <typename Item>
-bool ContainsItem(const std::set<Item>& container, const Item& item){
+bool ContainsItem(const std::set<Item>& container, const Item& item) {
  return std::find(container.begin(), container.end(), item) != container.end();
 }
 
-void CheckSubgraphInvariants(const MultibodyPlantElements& elem){
+void CheckSubgraphInvariants(const MultibodyPlantElements& elem) {
  auto plant_model_instances = GetModelInstances(*elem.plant());
  DRAKE_DEMAND(std::includes(
  plant_model_instances.begin(), plant_model_instances.end(),
  elem.model_instances().begin(), elem.model_instances().end()));
 
  const MultibodyPlant<double> *plant = elem.plant();
  // Check bodies.
- for (const auto *body : elem.bodies()){
+ for (const auto* body : elem.bodies()) {
  CheckPlantAggregate([&](auto i) { return &plant->get_body(i); }, body);
  DRAKE_DEMAND(ContainsItem(elem.model_instances(), body->model_instance()));
  }
 
  // Check frames.
- for (const auto *frame : elem.frames()){
+ for (const auto* frame : elem.frames()) {
  CheckPlantAggregate([&](auto i) { return &plant->get_frame(i); }, frame);
  DRAKE_DEMAND(ContainsItem(elem.bodies(), &frame->body()));
  DRAKE_DEMAND(ContainsItem(elem.model_instances(), frame->model_instance()));
  }
 
  // Check joints.
- for (const auto *joint : elem.joints()){
+ for (const auto* joint : elem.joints()) {
  CheckPlantAggregate([&](auto i) { return &plant->get_joint(i); }, joint);
  IsJointSolelyConnectedTo(joint, elem.bodies());
  DRAKE_DEMAND(ContainsItem(elem.model_instances(), joint->model_instance()));
  }
 
  // Check actuators.
- for (const auto *joint_actuator : elem.joint_actuators()){
+ for (const auto* joint_actuator : elem.joint_actuators()) {
  CheckPlantAggregate([&](auto i) { return &plant->get_joint_actuator(i); },
  joint_actuator);
  DRAKE_DEMAND(ContainsItem(elem.joints(), &joint_actuator->joint()));
  DRAKE_DEMAND(
  ContainsItem(elem.model_instances(), joint_actuator->model_instance()));
  }
 
- // # Check geometries.
- // if scene_graph is not None:
- // assert plant.geometry_source_is_registered()
- // inspector = scene_graph.model_inspector()
- // for geometry_id in elem.geometry_ids:
- // assert isinstance(geometry_id, GeometryId)
- // frame_id = inspector.GetFrameId(geometry_id)
- // body = plant.GetBodyFromFrameId(frame_id)
- // assert body in elem.bodies
- // else:
- // assert elem.geometry_ids == set(), elem.geometry_ids
  // Check geometries.
  if (elem.scene_graph() != nullptr) {
  DRAKE_DEMAND(plant->geometry_source_is_registered());
  const auto &inspector = elem.scene_graph()->model_inspector();
- for (const auto geometry_id: elem.geometry_ids()){
+ for (const auto geometry_id : elem.geometry_ids()) {
  auto frame_id = inspector.GetFrameId(geometry_id);
  auto body = plant->GetBodyFromFrameId(frame_id);
  DRAKE_DEMAND(ContainsItem(elem.bodies(), body));

multibody/parsing/detail_multibody_plant_subgraph.h

@@ -123,7 +123,6 @@ class MultibodyPlantElements {
  std::set<const Joint<double>*> joints_;
  std::set<const JointActuator<double>*> joint_actuators_;
  std::set<geometry::GeometryId> geometry_ids_;
-
 };
 
 using FrameNameRemapFunction = std::function<std::string(

multibody/parsing/detail_sdf_parser.cc

@@ -1557,9 +1557,10 @@ std::optional<ModelInstanceIndex> AddModelFromSdf(
  model_name_in.empty() ? model.Name() : model_name_in;
 
  std::vector<ModelInstanceIndex> added_model_instances =
- AddModelsFromSpecification(
- workspace.diagnostic, model, model_name, {}, workspace.plant,
- workspace.package_map, data_source.GetRootDir(), reusable_model_instances);
+ AddModelsFromSpecification(workspace.diagnostic, model, model_name, {},
+ workspace.plant, workspace.package_map,
+ data_source.GetRootDir(),
+ reusable_model_instances);
 
  DRAKE_DEMAND(!added_model_instances.empty());
  return added_model_instances.front();

multibody/parsing/test/detail_sdf_parser_test.cc

@@ -2492,12 +2492,12 @@ void TestMergeIncludeWithInterfaceAPI(const MultibodyPlant<double>& plant,
  // Check that geometries have been created properly.
  const auto frame_id = plant.GetBodyFrameIdOrThrow(
  plant.GetBodyByName("L1", arm_urdf_model_instance).index());
- EXPECT_TRUE(FrameHasShape(frame_id, geometry::Role::kPerception, scene_graph,
- geometry::Box{0.1, 0.1, 0.1},
- sdf::JoinName(model_prefix, "arm_urdf")));
+ EXPECT_TRUE(FrameHasShape(frame_id, geometry::Role::kPerception,
+  scene_graph, geometry::Box{0.1, 0.1, 0.1},
+  sdf::JoinName(model_prefix, "arm_urdf")));
  EXPECT_TRUE(FrameHasShape(frame_id, geometry::Role::kProximity, scene_graph,
- geometry::Sphere{0.2},
- sdf::JoinName(model_prefix, "arm_urdf")));
+  geometry::Sphere{0.2},
+  sdf::JoinName(model_prefix, "arm_urdf")));
  }
  {
  // Frame F represents the model frame of model top::arm_sdf::flange

multibody/plant/multibody_plant.h

@@ -4483,12 +4483,11 @@ class MultibodyPlant : public internal::MultibodyTreeSystem<T> {
  // 2. RegisterAsSourceForSceneGraph() was called on `this` plant.
  // 3. `scene_graph` points to the same SceneGraph instance previously
  // passed to RegisterAsSourceForSceneGraph().
- public: geometry::GeometryId RegisterGeometry(
+ geometry::GeometryId RegisterGeometry(
  const Body<T>& body, const math::RigidTransform<double>& X_BG,
  const geometry::Shape& shape,
  const std::string& name);
 
- private:
  // Registers a geometry frame for every body. If the body already has a
  // geometry frame, it is unchanged. This registration is part of finalization.
  // This requires RegisterAsSourceForSceneGraph() was called on `this` plant.