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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
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<link rel="mask-icon" type="image/svg+xml" href="/mask-icon.svg" color="#990000"/>
<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Emacs IDE setup</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
"/>
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<h1>Emacs IDE setup</h1>
</div>
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<section class="padding">
<div class="contain">
<article class="markdown-body">
<p>This guide describes how to edit the Drake codebase using Emacs.</p>
<p>If you have tips that would help out other developers, drop us a line and we
can add them here!</p>
<h1 id="setting-up-emacs">Setting up Emacs</h1>
<p>There is nothing really special to do.
On Ubuntu <code class="language-plaintext highlighter-rouge">sudo apt install emacs</code>.</p>
<h2 id="bazel">Bazel</h2>
<p>We recommend <a href="https://github.com/bazelbuild/emacs-bazel-mode">emacs-bazel-mode</a>.
If you have MELPA configured, use <code class="language-plaintext highlighter-rouge">M-x package-install bazel</code>.</p>
<h2 id="git">Git</h2>
<p>We recommend <code class="language-plaintext highlighter-rouge">magit</code>.
On Ubuntu <code class="language-plaintext highlighter-rouge">sudo apt install elpa-magit</code>.</p>
<h2 id="c-code-formatting">C++ code formatting</h2>
<p>Use <code class="language-plaintext highlighter-rouge">(require 'clang-format)</code> to enable the <code class="language-plaintext highlighter-rouge">M-x clang-format-...</code> family of
functions. Also check that the customize variable <code class="language-plaintext highlighter-rouge">clang-format-executable</code> is
set to Drake’s preferred value <code class="language-plaintext highlighter-rouge">clang-format-15</code>.</p>
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