${\mathrm G}_2$-structures with parallel skew-symmetric torsion

We classify $7$-dimensional Riemannian manifolds carrying a metric connection with parallel skew-symmetric torsion whose holonomy is contained in $\mathrm{G}_2$, up to naturally reductive homogeneous spaces and nearly parallel $\mathrm{G}_2$-structures. This extends and completes the classification initiated by Th. Friedrich in the cocalibrated case. Incidentally, we also obtain the list of $\mathrm{SU}(3)$ geometries with parallel skew-symmetric torsion, up to naturally reductive homogeneous spaces and nearly K\"ahler manifolds.