Fix Code Style On intermediate-pathgen (#2269)

automated style fixes Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com>
RoboJackets · Sep 29, 2024 · 463dcce · 463dcce
1 parent e4fd024
commit 463dcce
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Showing 3 changed files with 20 additions and 13 deletions.
diff --git a/soccer/src/soccer/planning/planning_params.cpp b/soccer/src/soccer/planning/planning_params.cpp
@@ -41,14 +41,18 @@ DEFINE_NS_INT64(kPlanningParamModule, rrt, min_iterations, 50,
 DEFINE_NS_INT64(kPlanningParamModule, rrt, max_iterations, 500,
                 "Maximum number of RRT iterations to run before giving up");
 
-
-DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, min_scale, 0.5, "Minimum length for intermediate point (m)");
-DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, max_scale, 1.5, "Maximum length for intermediate point (m)");
-DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, min_angle, 20, "Minimum angle for intermediate point (deg)");
-DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, max_angle, 140, "Maximum angle for intermediate point (deg)");
-DEFINE_NS_INT64(kPlanningParamModule, intermediate, num_intermediates, 5, "Number of intermediate points used (unitless)");
-DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, step_size, 0.1, "Step size for testing intermediates (m)");
-
+DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, min_scale, 0.5,
+                  "Minimum length for intermediate point (m)");
+DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, max_scale, 1.5,
+                  "Maximum length for intermediate point (m)");
+DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, min_angle, 20,
+                  "Minimum angle for intermediate point (deg)");
+DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, max_angle, 140,
+                  "Maximum angle for intermediate point (deg)");
+DEFINE_NS_INT64(kPlanningParamModule, intermediate, num_intermediates, 5,
+                "Number of intermediate points used (unitless)");
+DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, step_size, 0.1,
+                  "Step size for testing intermediates (m)");
 
 DEFINE_NS_FLOAT64(
     kPlanningParamModule, escape, step_size, 0.1,

diff --git a/soccer/src/soccer/planning/primitives/create_path.cpp b/soccer/src/soccer/planning/primitives/create_path.cpp
@@ -77,7 +77,6 @@ Trajectory rrt(const LinearMotionInstant& start, const LinearMotionInstant& goal
 
 static std::optional<std::tuple<double, double, double>> cached_intermediate_tuple_{};
 
-
 Trajectory intermediate(const LinearMotionInstant& start, const LinearMotionInstant& goal,
                         const MotionConstraints& motion_constraints, RJ::Time start_time,
                         const rj_geometry::ShapeSet& static_obstacles) {
@@ -105,7 +104,8 @@ Trajectory intermediate(const LinearMotionInstant& start, const LinearMotionInst
 
         // Step through the path from the robot to the final intermediate point
         // and test each point on that path as an intermediate point
-        for (double t = intermediate::PARAM_step_size; t < final_inter.dist_to(start.position); t += intermediate::PARAM_step_size) {
+        for (double t = intermediate::PARAM_step_size; t < final_inter.dist_to(start.position);
+             t += intermediate::PARAM_step_size) {
             rj_geometry::Point intermediate =
                 (final_inter - start.position).normalized(t) + start.position;
             Trajectory trajectory =
@@ -114,7 +114,8 @@ Trajectory intermediate(const LinearMotionInstant& start, const LinearMotionInst
             // If the trajectory does not hit an obstacle, it is valid
             if ((!trajectory_hits_static(trajectory, static_obstacles, start_time, nullptr))) {
                 auto angle = (final_inter - start.position).angle();
-                cached_intermediate_tuple_ = {abs(angle), signbit(angle) ? -1 : 1, (final_inter - start.position).mag()};
+                cached_intermediate_tuple_ = {abs(angle), signbit(angle) ? -1 : 1,
+                                              (final_inter - start.position).mag()};
                 return trajectory;
             }
         }
@@ -130,7 +131,8 @@ std::vector<rj_geometry::Point> get_intermediates(const LinearMotionInstant& sta
     std::mt19937 gen(rd());
     // Create a random distribution for the distance between the start
     // and the intermediate points
-    std::uniform_real_distribution<> scale_dist(intermediate::PARAM_min_scale, intermediate::PARAM_max_scale);
+    std::uniform_real_distribution<> scale_dist(intermediate::PARAM_min_scale,
+                                                intermediate::PARAM_max_scale);
 
     double angle_range = intermediate::PARAM_max_angle - intermediate::PARAM_min_angle;
     // Create a random distribution for the angle between the start

diff --git a/soccer/src/soccer/planning/primitives/create_path.hpp b/soccer/src/soccer/planning/primitives/create_path.hpp
@@ -1,7 +1,8 @@
 #pragma once
 
-#include <random>
 #include <optional>
+#include <random>
+
 #include "planning/motion_constraints.hpp"
 #include "planning/primitives/path_smoothing.hpp"
 #include "planning/trajectory.hpp"