[ci] Upgrade to wpiformat 2025.36 (#8308)

clang-format 21 made some formatting changes. Since wpiformat's stdlib task was removed, I removed NOLINT comments for it and removed some std:: prefixes it added to comments.
2026-06-19 00:41:43 +00:00 · 2025-10-28 20:17:04 -07:00
parent a6a4912a80
commit 4aef52a117
23 changed files with 38 additions and 424 deletions
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -36,7 +36,7 @@ jobs:
      - name: Install wpiformat
        run: |
          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
      - name: Run
        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
      - name: Check output
@@ -78,7 +78,7 @@ jobs:
      - name: Install wpiformat
        run: |
          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
      - name: Create compile_commands.json
        run: |
          ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
--- a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -186,7 +186,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  static bool once = false;

  if (once) {
--- a/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -45,7 +45,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("Simulator GUI Initializing.");

  gui::CreateContext();
--- a/simulation/halsim_gui/src/main/native/include/HALDataSource.h
+++ b/simulation/halsim_gui/src/main/native/include/HALDataSource.h
@@ -57,13 +57,9 @@
        HALSIM_Cancel##cbname##Callback(m_index, m_callback);                 \
    }                                                                         \
                                                                              \
-    int32_t GetIndex() const {                                                \
-      return m_index;                                                         \
-    }                                                                         \
+    int32_t GetIndex() const { return m_index; }                              \
                                                                              \
-    int GetChannel() const {                                                  \
-      return m_channel;                                                       \
-    }                                                                         \
+    int GetChannel() const { return m_channel; }                              \
                                                                              \
   private:                                                                   \
    static void CallbackFunc(const char*, void* param,                        \
@@ -100,13 +96,9 @@
        HALSIM_Cancel##cbname##Callback(m_index, m_channel, m_callback);      \
    }                                                                         \
                                                                              \
-    int32_t GetIndex() const {                                                \
-      return m_index;                                                         \
-    }                                                                         \
+    int32_t GetIndex() const { return m_index; }                              \
                                                                              \
-    int32_t GetChannel() const {                                              \
-      return m_channel;                                                       \
-    }                                                                         \
+    int32_t GetChannel() const { return m_channel; }                          \
                                                                              \
   private:                                                                   \
    static void CallbackFunc(const char*, void* param,                        \
--- a/simulation/halsim_ws_client/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/main.cpp
@@ -18,7 +18,7 @@ extern "C" {
 __declspec(dllexport)
 #endif

-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("HALSim WS Client Extension Initializing");

  HAL_OnShutdown(nullptr, [](void*) { gClient.reset(); });
--- a/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
@@ -18,7 +18,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("Websocket WS Server Initializing.");

  HAL_OnShutdown(nullptr, [](void*) { gServer.reset(); });
--- a/simulation/halsim_xrp/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/main.cpp
@@ -25,7 +25,7 @@ extern "C" {
 __declspec(dllexport)
 #endif

-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("HALSim XRP Extension Initializing");

  HAL_OnShutdown(nullptr, [](void*) { gClient.reset(); });
--- a/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
+++ b/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
@@ -251,17 +251,17 @@ OLSResult CalculateFeedforwardGains(const Storage& data,

    if (type == analysis::kArm) {
      // dx/dt = -Kv/Ka x + 1/Ka u - Ks/Ka sgn(x)
-      //           - Kg/Ka cos(offset) cos(angle)                   NOLINT
-      //           + Kg/Ka sin(offset) sin(angle)                   NOLINT
-      // dx/dt = αx + βu + γ sgn(x) + δ cos(angle) + ε sin(angle)   NOLINT
+      //           - Kg/Ka cos(offset) cos(angle)
+      //           + Kg/Ka sin(offset) sin(angle)
+      // dx/dt = αx + βu + γ sgn(x) + δ cos(angle) + ε sin(angle)

      // δ = -Kg/Ka cos(offset)
      // ε = Kg/Ka sin(offset)
      double δ = ols.coeffs[3];
      double ε = ols.coeffs[4];

-      // Kg = hypot(δ, ε)/β      NOLINT
-      // offset = atan2(ε, -δ)   NOLINT
+      // Kg = hypot(δ, ε)/β
+      // offset = atan2(ε, -δ)
      gains.emplace_back(std::hypot(δ, ε) / β);
      gains.emplace_back(std::atan2(ε, -δ));
    }
--- a/upstream_utils/sleipnir.py
+++ b/upstream_utils/sleipnir.py
@@ -19,10 +19,7 @@ def copy_upstream_src(wpilib_root: Path):
    # Copy Sleipnir files into allwpilib
    walk_cwd_and_copy_if(
        lambda dp, f: (has_prefix(dp, Path("include")) or has_prefix(dp, Path("src")))
-        or f == ".clang-format"
-        or f == ".clang-tidy"
-        or f == ".styleguide"
-        or f == ".styleguide-license",
+        and f not in [".styleguide", ".styleguide-license"],
        wpimath / "src/main/native/thirdparty/sleipnir",
    )

--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
@@ -25,8 +25,7 @@ namespace frc2 {
 * std::unique_ptr<Command>, use CommandPtr::Unwrap to convert.
 * CommandPtr::UnwrapVector does the same for vectors.
 */
-class [[nodiscard]]
-CommandPtr final {
+class [[nodiscard]] CommandPtr final {
 public:
  explicit CommandPtr(std::unique_ptr<Command>&& command);

--- a/wpimath/.styleguide
+++ b/wpimath/.styleguide
@@ -19,8 +19,6 @@ generatedFileExclude {
  src/main/native/include/unsupported/
  src/main/native/thirdparty/
  src/test/native/cpp/UnitsTest\.cpp$
-  src/test/native/cpp/drake/
-  src/test/native/include/drake/
  src/generated/main/java/edu/wpi/first/math/proto
  src/generated/main/native/cpp
 }
@@ -41,6 +39,7 @@ includeOtherLibs {
  ^gcem/
  ^google/
  ^gtest/
+  ^sleipnir/
  ^unsupported/
  ^wpi/
 }
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -260,7 +260,7 @@ WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
 }

 /**
- * Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
+ * Converts a Pose2d into a vector of [x, y, cos(theta), sin(theta)].
 *
 * @param pose The pose that is being represented.
 *
--- a/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
@@ -91,7 +91,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
    auto a = units::math::max(m_xSemiAxis, m_ySemiAxis);

    // Minor semi-axis
-    auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);  // NOLINT
+    auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);

    auto c = units::math::sqrt(a * a - b * b);

@@ -203,7 +203,9 @@ class WPILIB_DLLEXPORT Ellipse2d {
    auto x = rotPoint.X() - m_center.X();
    auto y = rotPoint.Y() - m_center.Y();

+    // NOLINTNEXTLINE (bugprone-integer-division)
    return (x * x) / (m_xSemiAxis * m_xSemiAxis) +
+           // NOLINTNEXTLINE (bugprone-integer-division)
           (y * y) / (m_ySemiAxis * m_ySemiAxis);
  }
 };
--- a/wpimath/src/main/native/include/frc/geometry/Pose3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
@@ -432,8 +432,8 @@ constexpr Pose3d Pose3d::Exp(const Twist3d& twist) const {
      B = 1 / 2.0 - thetaSq / 24 + thetaSq * thetaSq / 720;
      C = 1 / 6.0 - thetaSq / 120 + thetaSq * thetaSq / 5040;
    } else {
-      // A = std::sin(θ)/θ
-      // B = (1 - std::cos(θ)) / θ²
+      // A = sin(θ)/θ
+      // B = (1 - cos(θ)) / θ²
      // C = (1 - A) / θ²
      A = gcem::sin(theta) / theta;
      B = (1 - gcem::cos(theta)) / thetaSq;
@@ -491,8 +491,8 @@ constexpr Twist3d Pose3d::Log(const Pose3d& end) const {
      // https://www.wolframalpha.com/input?i2d=true&i=series+expansion+of+Divide%5B1-Divide%5BDivide%5Bsin%5C%2840%29x%5C%2841%29%2Cx%5D%2C2Divide%5B1-cos%5C%2840%29x%5C%2841%29%2CPower%5Bx%2C2%5D%5D%5D%2CPower%5Bx%2C2%5D%5D+at+x%3D0
      C = 1 / 12.0 + thetaSq / 720 + thetaSq * thetaSq / 30240;
    } else {
-      // A = std::sin(θ)/θ
-      // B = (1 - std::cos(θ)) / θ²
+      // A = sin(θ)/θ
+      // B = (1 - cos(θ)) / θ²
      // C = (1 - A/(2*B)) / θ²
      double A = gcem::sin(theta) / theta;
      double B = (1 - gcem::cos(theta)) / thetaSq;
--- a/wpimath/src/main/native/include/frc/geometry/Quaternion.h
+++ b/wpimath/src/main/native/include/frc/geometry/Quaternion.h
@@ -296,8 +296,8 @@ class WPILIB_DLLEXPORT Quaternion {
    // 𝑣⃗ = θ * v̂
    // v̂ = 𝑣⃗ / θ

-    // 𝑞 = std::cos(θ/2) + std::sin(θ/2) * v̂
-    // 𝑞 = std::cos(θ/2) + std::sin(θ/2) / θ * 𝑣⃗
+    // 𝑞 = cos(θ/2) + sin(θ/2) * v̂
+    // 𝑞 = cos(θ/2) + sin(θ/2) / θ * 𝑣⃗

    double theta = gcem::hypot(rvec(0), rvec(1), rvec(2));
    double cos = gcem::cos(theta / 2);
--- a/wpimath/src/main/native/thirdparty/sleipnir/.clang-format
+++ b/wpimath/src/main/native/thirdparty/sleipnir/.clang-format
@@ -1,249 +0,0 @@
---
-Language:        Cpp
-BasedOnStyle:  Google
-AccessModifierOffset: -1
-AlignAfterOpenBracket: Align
-AlignArrayOfStructures: None
-AlignConsecutiveAssignments:
-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    true
-AlignConsecutiveBitFields:
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-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    false
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-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    false
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-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    false
-AlignConsecutiveShortCaseStatements:
-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCaseColons: false
-AlignEscapedNewlines: Left
-AlignOperands:   Align
-AlignTrailingComments:
-  Kind:            Always
-  OverEmptyLines:  0
-AllowAllArgumentsOnNextLine: true
-AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: Never
-AllowShortCaseLabelsOnASingleLine: false
-AllowShortEnumsOnASingleLine: true
-AllowShortFunctionsOnASingleLine: Inline
-AllowShortIfStatementsOnASingleLine: Never
-AllowShortLambdasOnASingleLine: All
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakAfterDefinitionReturnType: None
-AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: true
-AlwaysBreakTemplateDeclarations: Yes
-BinPackArguments: true
-BinPackParameters: true
-BitFieldColonSpacing: Both
-BraceWrapping:
-  AfterCaseLabel:  false
-  AfterClass:      false
-  AfterControlStatement: Never
-  AfterEnum:       false
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-  AfterNamespace:  false
-  AfterObjCDeclaration: false
-  AfterStruct:     false
-  AfterUnion:      false
-  BeforeCatch:     false
-  BeforeElse:      false
-  BeforeLambdaBody: false
-  BeforeWhile:     false
-  IndentBraces:    false
-  SplitEmptyFunction: true
-  SplitEmptyRecord: true
-  SplitEmptyNamespace: true
-BreakAfterAttributes: Always
-BreakAfterJavaFieldAnnotations: false
-BreakArrays:     true
-BreakBeforeBinaryOperators: None
-BreakBeforeConceptDeclarations: Always
-BreakBeforeBraces: Attach
-BreakBeforeInlineASMColon: OnlyMultiline
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializers: BeforeColon
-BreakInheritanceList: BeforeColon
-BreakStringLiterals: true
-ColumnLimit:     80
-CommentPragmas:  '^ IWYU pragma:'
-CompactNamespaces: false
-ConstructorInitializerIndentWidth: 4
-ContinuationIndentWidth: 4
-Cpp11BracedListStyle: true
-DerivePointerAlignment: false
-DisableFormat:   false
-EmptyLineAfterAccessModifier: Never
-EmptyLineBeforeAccessModifier: LogicalBlock
-ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: true
-IncludeBlocks:   Regroup
-IncludeCategories:
-  - Regex:           '^<ext/.*\.h>'
-    Priority:        2
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*\.h>'
-    Priority:        1
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*'
-    Priority:        2
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '.*'
-    Priority:        3
-    SortPriority:    0
-    CaseSensitive:   false
-IncludeIsMainRegex: '([-_](test|unittest))?$'
-IncludeIsMainSourceRegex: ''
-IndentAccessModifiers: false
-IndentCaseBlocks: false
-IndentCaseLabels: true
-IndentExternBlock: AfterExternBlock
-IndentGotoLabels: true
-IndentPPDirectives: None
-IndentRequiresClause: true
-IndentWidth:     2
-IndentWrappedFunctionNames: false
-InsertBraces:    false
-InsertNewlineAtEOF: false
-InsertTrailingCommas: None
-IntegerLiteralSeparator:
-  Binary:          0
-  BinaryMinDigits: 0
-  Decimal:         0
-  DecimalMinDigits: 0
-  Hex:             0
-  HexMinDigits:    0
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
-KeepEmptyLinesAtTheStartOfBlocks: false
-KeepEmptyLinesAtEOF: false
-LambdaBodyIndentation: Signature
-LineEnding:      DeriveLF
-MacroBlockBegin: ''
-MacroBlockEnd:   ''
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCBinPackProtocolList: Never
-ObjCBlockIndentWidth: 2
-ObjCBreakBeforeNestedBlockParam: true
-ObjCSpaceAfterProperty: false
-ObjCSpaceBeforeProtocolList: true
-PackConstructorInitializers: NextLine
-PenaltyBreakAssignment: 2
-PenaltyBreakBeforeFirstCallParameter: 1
-PenaltyBreakComment: 300
-PenaltyBreakFirstLessLess: 120
-PenaltyBreakOpenParenthesis: 0
-PenaltyBreakString: 1000
-PenaltyBreakTemplateDeclaration: 10
-PenaltyExcessCharacter: 1000000
-PenaltyIndentedWhitespace: 0
-PenaltyReturnTypeOnItsOwnLine: 200
-PointerAlignment: Left
-PPIndentWidth:   -1
-QualifierAlignment: Leave
-RawStringFormats:
-  - Language:        Cpp
-    Delimiters:
-      - cc
-      - CC
-      - cpp
-      - Cpp
-      - CPP
-      - 'c++'
-      - 'C++'
-    CanonicalDelimiter: ''
-    BasedOnStyle:    google
-  - Language:        TextProto
-    Delimiters:
-      - pb
-      - PB
-      - proto
-      - PROTO
-    EnclosingFunctions:
-      - EqualsProto
-      - EquivToProto
-      - PARSE_PARTIAL_TEXT_PROTO
-      - PARSE_TEST_PROTO
-      - PARSE_TEXT_PROTO
-      - ParseTextOrDie
-      - ParseTextProtoOrDie
-      - ParseTestProto
-      - ParsePartialTestProto
-    CanonicalDelimiter: pb
-    BasedOnStyle:    google
-ReferenceAlignment: Pointer
-ReflowComments:  true
-RemoveBracesLLVM: false
-RemoveParentheses: Leave
-RemoveSemicolon: false
-RequiresClausePosition: OwnLine
-RequiresExpressionIndentation: OuterScope
-SeparateDefinitionBlocks: Leave
-ShortNamespaceLines: 1
-SortIncludes:    false
-SortJavaStaticImport: Before
-SortUsingDeclarations: LexicographicNumeric
-SpaceAfterCStyleCast: false
-SpaceAfterLogicalNot: false
-SpaceAfterTemplateKeyword: true
-SpaceAroundPointerQualifiers: Default
-SpaceBeforeAssignmentOperators: true
-SpaceBeforeCaseColon: false
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-SpaceBeforeParens: ControlStatements
-SpaceBeforeParensOptions:
-  AfterControlStatements: true
-  AfterForeachMacros: true
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-  InEmptyParentheses: false
-  Other:           false
-SpacesInSquareBrackets: false
-Standard:        c++20
-TabWidth:        8
-UseTab:          Never
-...
--- a/wpimath/src/main/native/thirdparty/sleipnir/.clang-tidy
+++ b/wpimath/src/main/native/thirdparty/sleipnir/.clang-tidy
@@ -1,74 +0,0 @@
-Checks:
-  'bugprone-assert-side-effect,
-  bugprone-bool-pointer-implicit-conversion,
-  bugprone-copy-constructor-init,
-  bugprone-dangling-handle,
-  bugprone-dynamic-static-initializers,
-  bugprone-forward-declaration-namespace,
-  bugprone-forwarding-reference-overload,
-  bugprone-inaccurate-erase,
-  bugprone-incorrect-roundings,
-  bugprone-integer-division,
-  bugprone-lambda-function-name,
-  bugprone-misplaced-operator-in-strlen-in-alloc,
-  bugprone-misplaced-widening-cast,
-  bugprone-move-forwarding-reference,
-  bugprone-multiple-statement-macro,
-  bugprone-parent-virtual-call,
-  bugprone-posix-return,
-  bugprone-sizeof-container,
-  bugprone-sizeof-expression,
-  bugprone-spuriously-wake-up-functions,
-  bugprone-string-constructor,
-  bugprone-string-integer-assignment,
-  bugprone-string-literal-with-embedded-nul,
-  bugprone-suspicious-enum-usage,
-  bugprone-suspicious-include,
-  bugprone-suspicious-memset-usage,
-  bugprone-suspicious-missing-comma,
-  bugprone-suspicious-semicolon,
-  bugprone-suspicious-string-compare,
-  bugprone-throw-keyword-missing,
-  bugprone-too-small-loop-variable,
-  bugprone-undefined-memory-manipulation,
-  bugprone-undelegated-constructor,
-  bugprone-unhandled-self-assignment,
-  bugprone-unused-raii,
-  bugprone-virtual-near-miss,
-  cert-err52-cpp,
-  cert-err60-cpp,
-  cert-mem57-cpp,
-  cert-oop57-cpp,
-  cert-oop58-cpp,
-  clang-diagnostic-*,
-  -clang-diagnostic-deprecated-declarations,
-  -clang-diagnostic-#warnings,
-  -clang-diagnostic-pedantic,
-  clang-analyzer-*,
-  -clang-analyzer-core.uninitialized.UndefReturn,
-  -clang-analyzer-optin.cplusplus.UninitializedObject,
-  -clang-analyzer-optin.portability.UnixAPI,
-  -clang-analyzer-unix.Malloc,
-  -cppcoreguidelines-slicing,
-  google-build-namespaces,
-  google-explicit-constructor,
-  google-global-names-in-headers,
-  google-readability-avoid-underscore-in-googletest-name,
-  google-readability-casting,
-  google-runtime-operator,
-  misc-definitions-in-headers,
-  misc-misplaced-const,
-  misc-new-delete-overloads,
-  misc-non-copyable-objects,
-  modernize-avoid-bind,
-  modernize-concat-nested-namespaces,
-  modernize-make-shared,
-  modernize-make-unique,
-  modernize-pass-by-value,
-  modernize-use-default-member-init,
-  modernize-use-noexcept,
-  modernize-use-nullptr,
-  modernize-use-override,
-  modernize-use-using,
-  readability-braces-around-statements'
-FormatStyle: file
--- a/wpimath/src/main/native/thirdparty/sleipnir/.styleguide
+++ b/wpimath/src/main/native/thirdparty/sleipnir/.styleguide
@@ -1,23 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-modifiableFileExclude {
-  \.patch$
-  \.png$
-  \.svg$
-  jormungandr/cpp/docstrings\.hpp$
-  jormungandr/py\.typed$
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^catch2/
-  ^gch/
-  ^nanobind/
-  ^sleipnir/
-}
--- a/wpimath/src/main/native/thirdparty/sleipnir/.styleguide-license
+++ b/wpimath/src/main/native/thirdparty/sleipnir/.styleguide-license
@@ -1 +0,0 @@
-// Copyright (c) Sleipnir contributors
--- a/wpimath/src/main/native/thirdparty/sleipnir/include/.styleguide
+++ b/wpimath/src/main/native/thirdparty/sleipnir/include/.styleguide
@@ -1,14 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^fmt/
-  ^gch/
-  ^wpi/
-}
--- a/wpimath/src/main/native/thirdparty/sleipnir/src/.styleguide
+++ b/wpimath/src/main/native/thirdparty/sleipnir/src/.styleguide
@@ -1,13 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^fmt/
-  ^gch/
-}
--- a/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
@@ -192,11 +192,11 @@ TEST(LinearFilterOutputTest, CentralFiniteDifference) {

  AssertCentralResults<1, 3>(
      [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
        return std::sin(x);
      },
      [](double x) {
-        // df/dx = std::cos(x)
+        // df/dx = cos(x)
        return std::cos(x);
      },
      h, -20.0, 20.0);
@@ -225,11 +225,11 @@ TEST(LinearFilterOutputTest, CentralFiniteDifference) {

  AssertCentralResults<2, 5>(
      [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
        return std::sin(x);
      },
      [](double x) {
-        // d²f/dx² = -std::sin(x)
+        // d²f/dx² = -sin(x)
        return -std::sin(x);
      },
      h, -20.0, 20.0);
@@ -265,11 +265,11 @@ TEST(LinearFilterOutputTest, BackwardFiniteDifference) {

  AssertBackwardResults<1, 2>(
      [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
        return std::sin(x);
      },
      [](double x) {
-        // df/dx = std::cos(x)
+        // df/dx = cos(x)
        return std::cos(x);
      },
      h, -20.0, 20.0);
@@ -298,11 +298,11 @@ TEST(LinearFilterOutputTest, BackwardFiniteDifference) {

  AssertBackwardResults<2, 4>(
      [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
        return std::sin(x);
      },
      [](double x) {
-        // d²f/dx² = -std::sin(x)
+        // d²f/dx² = -sin(x)
        return -std::sin(x);
      },
      h, -20.0, 20.0);
--- a/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h
+++ b/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h
@@ -39,8 +39,7 @@ class SendableHelper {
  // See https://bugzilla.mozilla.org/show_bug.cgi?id=1442819
  __attribute__((no_sanitize("vptr")))
 #endif
-  constexpr SendableHelper&
-  operator=(SendableHelper&& rhs) {
+  constexpr SendableHelper& operator=(SendableHelper&& rhs) {
    if (!std::is_constant_evaluated()) {
      // it is safe to call Move() multiple times with the same rhs
      SendableRegistry::Move(static_cast<Derived*>(this),