Update readme with linter

.linterconfig.yaml

@@ -0,0 +1,16 @@
+# Turn the components of the linter individualy on / off.
+clangformat: on
+cpplint: on
+yapf: on
+pylint: on
+
+# If on, the linter blocks commits after detecting an error. Otherwise, the
+# user is asked whether to proceed with the commit.
+block_commits: off
+
+# If this whitelist block is present, the linter only operates on the files and
+# directories listed in this whitelist.
+whitelist:
+ - rel/path/to/file.py
+ - another_file.py
+ - some/directory

README.md

@@ -216,11 +216,38 @@ Tips for development
 
 > Note: these changes are not sufficient to make the output repeatable between different machines.
 
-Tips for speed
-----------------------
-
-- Use ```-march=native``` compiler flag. It will be a problem if you ever want to distribute binaries of this code.
-- GTSAM speed depends on: TBB, OpenMP. In principle, TBB speeds-up things, OpenMP not so sure. Verify that on your own computer.
-- Make sure OpenCV does not have the `CV_TRACE` cmake flag set-up. This is for profiling. Also use `TBB` as well. Compile with `Lapack`, it seems that operations such as SVD are faster.
-- OpenCV could potentially be used with GPU: stereo visual odometry achieves a 7x speed-up.
-- Make sure all libraries are compiled with the maximum optimization. Set `CMAKE_BUILD_TYPE` to `Release` and ensure you get a level of optimization at `-O3` for best results.
+> Note to self: remember that we are using ```-march=native``` compiler flag, which will be a problem if we ever want to distribute binaries of this code.
+>
+
+# Use Linter!
+
+This repo contains a (C++, python) linter and auto formatter package that can be conveniently installed into your repositories using git hooks. It provides the following git hooks:
+ * **General**
+   * Prevent commits to master.
+ * **C++** files:
+ *
+   * **clang-format** Formats your code based on your `.clang-format` preferences.
+   * **cpplint** Checks your C++ code for style errors and warnings.
+
+ * **Python** files:
+
+      * **yapf** Formats your python code.
+      * **pylint** Checks your Python code for style errors and warnings.
+
+
+## Dependencies
+
+ * **pylint**
+   * macOS:
+     ```
+     pip install pylint
+     ```
+ * **yapf**
+   * Ubuntu / macOS: `pip install yapf`
+ * **clang-format**
+   * Compatible with `clang-format-3.8 - 6.0`
+   * Ubuntu: `sudo apt install clang-format-${VERSION}`
+   * macOS:
+     ```
+     brew install clang-format
+     ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff