ci(pre-commit): autofix

planning/recordreplay_planner/design/recordreplay_planner-design.md

@@ -1,5 +1,4 @@
-RecordReplay planner {#recordreplay-planner}
-====================
+# RecordReplay planner {#recordreplay-planner}
 
 # Purpose / Use cases
 
@@ -10,7 +9,6 @@ driving a trajectory, then reset vehicle position, then start replay and see wha
 The trajectories can be a loop , which can be determined naively by checking the distance between the first and last
 point of the trajectory, but the user has the ultimate control over toggling this behavior.
 
-
 # Design
 
 Recording will add states at the end of an internal list of states.
@@ -27,10 +25,10 @@ There is no interpolation between points along the trajectory, and localization
 The list of recorded states is simply iterated over.
 
 The stopping concept only works if one can assume that the downstream controller and the vehicle are able
-to track the desired velocity going to zero in a single trajectory step. 
+to track the desired velocity going to zero in a single trajectory step.
 
 Making sure this assumption is satisfied by construction would involve creating a dynamically feasible
-velocity profile for stopping - this has not been done yet. 
+velocity profile for stopping - this has not been done yet.
 
 It is the user's responsibility to check if the trajectory is suitable for looping, and call `set_loop` accordingly
 to toggle the looping behavior with regard to the current trajectory that the controller is replaying. `is_loop`,
@@ -47,30 +45,28 @@ the path file that the user obtained while recording.
 
 Inputs:
 
-* `VehicleKinematicState.msg` is the state that gets recorded
-* `BoundingBoxArray.msg` is a list of bounding boxes of obstacles
+- `VehicleKinematicState.msg` is the state that gets recorded
+- `BoundingBoxArray.msg` is a list of bounding boxes of obstacles
 
 Outputs:
 
-* `Trajectory.msg` is the trajectory that gets published
-
+- `Trajectory.msg` is the trajectory that gets published
 
 ## Complexity
 
 Recording is `O(1)` in time and `O(n)` in space, replay is `O(n)` in both time and space, where `n` is the
 number of recorded states. Collision checking currently happens on every replay even if obstacles do not
-change, and has a complexity that is linear in the number of obstacles but proportional to the product of 
+change, and has a complexity that is linear in the number of obstacles but proportional to the product of
 the number of halfplanes in the ego vehicle and a single obstacle.
 
-# Security considerations 
+# Security considerations
 
 TBD by a security specialist.
 
 # Future extensions / Unimplemented parts
 
-* Trajectory buffer clearing
-* Proper `tf` support
-* rosbag2 support for recording and later replaying
+- Trajectory buffer clearing
+- Proper `tf` support
+- rosbag2 support for recording and later replaying
 
 # Related issues
-

planning/recordreplay_planner/include/recordreplay_planner/recordreplay_planner.hpp

@@ -15,14 +15,15 @@
 #ifndef RECORDREPLAY_PLANNER__RECORDREPLAY_PLANNER_HPP_
 #define RECORDREPLAY_PLANNER__RECORDREPLAY_PLANNER_HPP_
 
+#include <common/types.hpp>
 #include <recordreplay_planner/visibility_control.hpp>
-#include <autoware_auto_vehicle_msgs/msg/vehicle_kinematic_state.hpp>
+
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <common/types.hpp>
+#include <autoware_auto_vehicle_msgs/msg/vehicle_kinematic_state.hpp>
 
 #include <deque>
-#include <string>
 #include <map>
+#include <string>
 
 using autoware::common::types::bool8_t;
 using autoware::common::types::float64_t;
@@ -36,12 +37,7 @@ namespace recordreplay_planner
 using State = autoware_auto_vehicle_msgs::msg::VehicleKinematicState;
 using autoware_auto_planning_msgs::msg::Trajectory;
 
-enum class RecordReplayState
-{
-  IDLE,
-  RECORDING,
-  REPLAYING
-};  // enum class RecordReplayState
+enum class RecordReplayState { IDLE, RECORDING, REPLAYING };  // enum class RecordReplayState
 
 /// \brief A class for recording trajectories and replaying them as plans
 class RECORDREPLAY_PLANNER_PUBLIC RecordReplayPlanner
@@ -95,9 +91,10 @@ class RECORDREPLAY_PLANNER_PUBLIC RecordReplayPlanner
   /**
    * \brief Judges whether current_state has reached the last point in record buffer
    * \param current_state current state of the vehicle
-   * \param distance_thresh threshold of euclidean distance between the current state the and the last point in meters
-   * \param angle_thresh threshold of difference in the headings of the current_state and the last point in radians
-   * \return true if both distance and angle conditions are satisfied
+   * \param distance_thresh threshold of euclidean distance between the current state the and the
+   * last point in meters \param angle_thresh threshold of difference in the headings of the
+   * current_state and the last point in radians \return true if both distance and angle conditions
+   * are satisfied
    */
   bool8_t reached_goal(
     const State & current_state, const float64_t & distance_thresh,
@@ -108,14 +105,9 @@ class RECORDREPLAY_PLANNER_PUBLIC RecordReplayPlanner
    * \param distance_thresh threshold of euclidean state between the first and last points in meters
    * \return true if the distance threshold is met
    */
-  bool8_t is_loop(
-    const float64_t & distance_thresh
-  ) const;
-
-  auto get_record_buffer()
-  {
-    return m_record_buffer;
-  }
+  bool8_t is_loop(const float64_t & distance_thresh) const;
+
+  auto get_record_buffer() { return m_record_buffer; }
 
 private:
   // Obtain a trajectory from the internally-stored recording buffer

planning/recordreplay_planner/include/recordreplay_planner/visibility_control.hpp

@@ -16,21 +16,21 @@
 #define RECORDREPLAY_PLANNER__VISIBILITY_CONTROL_HPP_
 
 #if defined(__WIN32)
-  #if defined(RECORDREPLAY_PLANNER_BUILDING_DLL) || defined(RECORDREPLAY_PLANNER_EXPORTS)
-    #define RECORDREPLAY_PLANNER_PUBLIC __declspec(dllexport)
-    #define RECORDREPLAY_PLANNER_LOCAL
-  #else  // defined(RECORDREPLAY_PLANNER_BUILDING_DLL) || defined(RECORDREPLAY_PLANNER_EXPORTS)
-    #define RECORDREPLAY_PLANNER_PUBLIC __declspec(dllimport)
-    #define RECORDREPLAY_PLANNER_LOCAL
-  #endif  // defined(RECORDREPLAY_PLANNER_BUILDING_DLL) || defined(RECORDREPLAY_PLANNER_EXPORTS)
+#if defined(RECORDREPLAY_PLANNER_BUILDING_DLL) || defined(RECORDREPLAY_PLANNER_EXPORTS)
+#define RECORDREPLAY_PLANNER_PUBLIC __declspec(dllexport)
+#define RECORDREPLAY_PLANNER_LOCAL
+#else  // defined(RECORDREPLAY_PLANNER_BUILDING_DLL) || defined(RECORDREPLAY_PLANNER_EXPORTS)
+#define RECORDREPLAY_PLANNER_PUBLIC __declspec(dllimport)
+#define RECORDREPLAY_PLANNER_LOCAL
+#endif  // defined(RECORDREPLAY_PLANNER_BUILDING_DLL) || defined(RECORDREPLAY_PLANNER_EXPORTS)
 #elif defined(__linux__)
-  #define RECORDREPLAY_PLANNER_PUBLIC __attribute__((visibility("default")))
-  #define RECORDREPLAY_PLANNER_LOCAL __attribute__((visibility("hidden")))
+#define RECORDREPLAY_PLANNER_PUBLIC __attribute__((visibility("default")))
+#define RECORDREPLAY_PLANNER_LOCAL __attribute__((visibility("hidden")))
 #elif defined(__APPLE__)
-  #define RECORDREPLAY_PLANNER_PUBLIC __attribute__((visibility("default")))
-  #define RECORDREPLAY_PLANNER_LOCAL __attribute__((visibility("hidden")))
+#define RECORDREPLAY_PLANNER_PUBLIC __attribute__((visibility("default")))
+#define RECORDREPLAY_PLANNER_LOCAL __attribute__((visibility("hidden")))
 #else  // defined(_LINUX)
-  #error "Unsupported Build Configuration"
+#error "Unsupported Build Configuration"
 #endif  // defined(_WINDOWS)
 
 #endif  // RECORDREPLAY_PLANNER__VISIBILITY_CONTROL_HPP_

planning/recordreplay_planner/package.xml

@@ -3,9 +3,7 @@
 <package format="2">
   <name>recordreplay_planner</name>
   <version>1.0.0</version>
-  <description>
-    RecordReplay trajectory planner
-  </description>
+  <description>RecordReplay trajectory planner</description>
   <maintainer email="opensource@embotech.com">Embotech AG</maintainer>
   <license>Apache License 2.0</license>
 
@@ -23,5 +21,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
-  <export><build_type>ament_cmake</build_type></export>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>