From 14137f0ac5bc47453cedff252875a3736bc5460a Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 31 May 2022 16:56:42 +0000
Subject: [PATCH] ci(pre-commit): autofix

---
 perception/object_merger/README.md              | 17 +++++++++--------
 .../solver/gnn_solver_interface.hpp             |  6 +++---
 .../include/object_association_merger/node.hpp  |  3 +--
 .../data_association/data_association.cpp       | 13 +++++--------
 .../src/object_association_merger/node.cpp      | 11 +++++++----
 5 files changed, 25 insertions(+), 25 deletions(-)

diff --git a/perception/object_merger/README.md b/perception/object_merger/README.md
index 7638e71cdfc77..6993bb57b4f80 100644
--- a/perception/object_merger/README.md
+++ b/perception/object_merger/README.md
@@ -25,14 +25,15 @@ The successive shortest path algorithm is used to solve the data association pro
 
 ## Parameters
 
-| Name                        | Type   | Description                                                    |
-| --------------------------- | ------ | -------------------------------------------------------------- |
-| `can_assign_matrix`         | double | Assignment table for data association                          |
-| `max_dist_matrix`           | double | Maximum distance table for data association                    |
-| `max_area_matrix`           | double | Maximum area table for data association                        |
-| `min_area_matrix`           | double | Minimum area table for data association                        |
-| `max_rad_matrix`            | double | Maximum angle table for data association                       |
-| `base_link_frame_id`        | double | association frame                                                 |
+| Name                 | Type   | Description                                 |
+| -------------------- | ------ | ------------------------------------------- |
+| `can_assign_matrix`  | double | Assignment table for data association       |
+| `max_dist_matrix`    | double | Maximum distance table for data association |
+| `max_area_matrix`    | double | Maximum area table for data association     |
+| `min_area_matrix`    | double | Minimum area table for data association     |
+| `max_rad_matrix`     | double | Maximum angle table for data association    |
+| `base_link_frame_id` | double | association frame                           |
+
 ## Assumptions / Known limits
 
 <!-- Write assumptions and limitations of your implementation.
diff --git a/perception/object_merger/include/object_association_merger/data_association/solver/gnn_solver_interface.hpp b/perception/object_merger/include/object_association_merger/data_association/solver/gnn_solver_interface.hpp
index 447f4fa2b7ce3..ec4bc907d85f6 100644
--- a/perception/object_merger/include/object_association_merger/data_association/solver/gnn_solver_interface.hpp
+++ b/perception/object_merger/include/object_association_merger/data_association/solver/gnn_solver_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #include <unordered_map>
 #include <vector>
@@ -32,4 +32,4 @@ class GnnSolverInterface
 };
 }  // namespace gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/perception/object_merger/include/object_association_merger/node.hpp b/perception/object_merger/include/object_association_merger/node.hpp
index a7d573ac25db5..f2de9665b4b39 100644
--- a/perception/object_merger/include/object_association_merger/node.hpp
+++ b/perception/object_merger/include/object_association_merger/node.hpp
@@ -24,7 +24,6 @@
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/synchronizer.h>
-
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/convert.h>
 #include <tf2/transform_datatypes.h>
@@ -66,7 +65,7 @@ class ObjectAssociationMergerNode : public rclcpp::Node
   typedef message_filters::Synchronizer<SyncPolicy> Sync;
   Sync sync_;
   std::unique_ptr<DataAssociation> data_association_;
-  std::string base_link_frame_id_; // associated with the base_link frame
+  std::string base_link_frame_id_;  // associated with the base_link frame
 };
 }  // namespace object_association
 
diff --git a/perception/object_merger/src/object_association_merger/data_association/data_association.cpp b/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
index 243c203999193..157a7e7d74945 100644
--- a/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
+++ b/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
@@ -35,11 +35,10 @@ double getDistance(
 }
 
 double getFormedYawAngle(
-  const geometry_msgs::msg::Quaternion & quat0,
-  const geometry_msgs::msg::Quaternion & quat1, const bool distinguish_front_or_back = true)
+  const geometry_msgs::msg::Quaternion & quat0, const geometry_msgs::msg::Quaternion & quat1,
+  const bool distinguish_front_or_back = true)
 {
-  const double yaw0 =
-    tier4_autoware_utils::normalizeRadian(tf2::getYaw(quat0));
+  const double yaw0 = tier4_autoware_utils::normalizeRadian(tf2::getYaw(quat0));
   const double yaw1 = tier4_autoware_utils::normalizeRadian(tf2::getYaw(quat1));
   const double angle_range = distinguish_front_or_back ? M_PI : M_PI_2;
   const double angle_step = distinguish_front_or_back ? 2.0 * M_PI : M_PI;
@@ -144,12 +143,10 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
       objects1.objects.at(objects1_idx);
     const std::uint8_t object1_label = utils::getHighestProbLabel(object1.classification);
 
-    for (size_t objects0_idx = 0; objects0_idx < objects0.objects.size();
-         ++objects0_idx) {
+    for (size_t objects0_idx = 0; objects0_idx < objects0.objects.size(); ++objects0_idx) {
       const autoware_auto_perception_msgs::msg::DetectedObject & object0 =
         objects0.objects.at(objects0_idx);
-      const std::uint8_t object0_label =
-        utils::getHighestProbLabel(object0.classification);
+      const std::uint8_t object0_label = utils::getHighestProbLabel(object0.classification);
 
       double score = 0.0;
       if (can_assign_matrix_(object1_label, object0_label)) {
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp
index 2c1517c7c3afb..e0a84f2744812 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger/node.cpp
@@ -13,9 +13,11 @@
 // limitations under the License.
 
 #include "object_association_merger/node.hpp"
+
 #include "object_association_merger/utils/utils.hpp"
 
 #include <boost/optional.hpp>
+
 #include <chrono>
 #include <unordered_map>
 
@@ -94,7 +96,7 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
     "output/object", rclcpp::QoS{1});
 
   // Parameters
-    base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id", "base_link");
+  base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id", "base_link");
 
   const auto tmp = this->declare_parameter<std::vector<int64_t>>("can_assign_matrix");
   const std::vector<int> can_assign_matrix(tmp.begin(), tmp.end());
@@ -118,7 +120,7 @@ void ObjectAssociationMergerNode::objectsCallback(
   }
 
   /* transform to base_link coordinate */
-  autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects0,transformed_objects1;
+  autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects0, transformed_objects1;
   if (
     !transformDetectedObjects(
       *input_objects0_msg, base_link_frame_id_, tf_buffer_, transformed_objects0) ||
@@ -143,7 +145,8 @@ void ObjectAssociationMergerNode::objectsCallback(
     const auto & object0 = objects0.at(object0_idx);
     const auto & object1 = objects1.at(direct_assignment.at(object0_idx));
 
-    if (direct_assignment.find(object0_idx) != direct_assignment.end()) {  // found. should be merged
+    if (direct_assignment.find(object0_idx) != direct_assignment.end()) {  // found. should be
+                                                                           // merged
 
       const std::uint8_t object0_label = utils::getHighestProbLabel(object0.classification);
       const std::uint8_t object1_label = utils::getHighestProbLabel(object1.classification);
@@ -155,7 +158,7 @@ void ObjectAssociationMergerNode::objectsCallback(
       // the UNKNOWN objects are not reliable.
       if (object0_label == Label::UNKNOWN || object1_label == Label::UNKNOWN) {
         if (object0_label == Label::UNKNOWN && object1_label == Label::UNKNOWN) {
-          if (object1.existence_probability == object0.existence_probability){
+          if (object1.existence_probability == object0.existence_probability) {
             should_use_object0 = true;
             should_use_object1 = true;
           } else if (object1.existence_probability < object0.existence_probability) {