Add braces to C++ single-line loops and conditionals (NFC) (#2973)

This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).

wpimath/src/main/native/cpp/trajectory/Trajectory.cpp

@@ -31,7 +31,9 @@ Trajectory::State Trajectory::State::Interpolate(State endValue,
   const auto deltaT = newT - t;
 
   // If delta time is negative, flip the order of interpolation.
-  if (deltaT < 0_s) return endValue.Interpolate(*this, 1.0 - i);
+  if (deltaT < 0_s) {
+    return endValue.Interpolate(*this, 1.0 - i);
+  }
 
   // Check whether the robot is reversing at this stage.
   const auto reversing =
@@ -65,8 +67,12 @@ Trajectory::Trajectory(const std::vector<State>& states) : m_states(states) {
 }
 
 Trajectory::State Trajectory::Sample(units::second_t t) const {
-  if (t <= m_states.front().t) return m_states.front();
-  if (t >= m_totalTime) return m_states.back();
+  if (t <= m_states.front().t) {
+    return m_states.front();
+  }
+  if (t >= m_totalTime) {
+    return m_states.back();
+  }
 
   // Use binary search to get the element with a timestamp no less than the
   // requested timestamp. This starts at 1 because we use the previous state

wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp

@@ -19,10 +19,11 @@ const Trajectory TrajectoryGenerator::kDoNothingTrajectory(
 std::function<void(const char*)> TrajectoryGenerator::s_errorFunc;
 
 void TrajectoryGenerator::ReportError(const char* error) {
-  if (s_errorFunc)
+  if (s_errorFunc) {
     s_errorFunc(error);
-  else
+  } else {
     wpi::errs() << "TrajectoryGenerator error: " << error << "\n";
+  }
 }
 
 Trajectory TrajectoryGenerator::GenerateTrajectory(
@@ -112,8 +113,11 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
     const std::vector<Pose2d>& waypoints, const TrajectoryConfig& config) {
   auto newWaypoints = waypoints;
   const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
-  if (config.IsReversed())
-    for (auto& waypoint : newWaypoints) waypoint += flip;
+  if (config.IsReversed()) {
+    for (auto& waypoint : newWaypoints) {
+      waypoint += flip;
+    }
+  }
 
   std::vector<SplineParameterizer::PoseWithCurvature> points;
   try {

wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp

@@ -85,7 +85,9 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
       // Now enforce all acceleration limits.
       EnforceAccelerationLimits(reversed, constraints, &constrainedState);
 
-      if (ds.to<double>() < kEpsilon) break;
+      if (ds.to<double>() < kEpsilon) {
+        break;
+      }
 
       // If the actual acceleration for this state is higher than the max
       // acceleration that we applied, then we need to reduce the max
@@ -130,14 +132,18 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
                             successor.minAcceleration * ds * 2.0);
 
       // No more limits to impose! This state can be finalized.
-      if (newMaxVelocity >= constrainedState.maxVelocity) break;
+      if (newMaxVelocity >= constrainedState.maxVelocity) {
+        break;
+      }
 
       constrainedState.maxVelocity = newMaxVelocity;
 
       // Check all acceleration constraints with the new max velocity.
       EnforceAccelerationLimits(reversed, constraints, &constrainedState);
 
-      if (ds.to<double>() > -kEpsilon) break;
+      if (ds.to<double>() > -kEpsilon) {
+        break;
+      }
 
       // If the actual acceleration for this state is lower than the min
       // acceleration, then we need to lower the min acceleration of the