From 5201e9d7cd113ff9768ab86a479352c845b14c6b Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 30 Sep 2022 14:27:03 +0000
Subject: [PATCH] ci(pre-commit): autofix

---
 .../obstacle_avoidance_planner/src/node.cpp   |  3 +-
 .../src/utils/cv_utils.cpp                    | 73 ++++++++++---------
 2 files changed, 39 insertions(+), 37 deletions(-)

diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
index ae0cef835f8c9..cc9acf5490fc4 100644
--- a/planning/obstacle_avoidance_planner/src/node.cpp
+++ b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -961,8 +961,7 @@ std::vector<TrajectoryPoint> ObstacleAvoidancePlanner::generateOptimizedTrajecto
 
   // insert 0 velocity when trajectory is over drivable area
   if (is_stopping_if_outside_drivable_area_) {
-    insertZeroVelocityOutsideDrivableArea(
-      planner_data, optimal_trajs.model_predictive_trajectory);
+    insertZeroVelocityOutsideDrivableArea(planner_data, optimal_trajs.model_predictive_trajectory);
   }
 
   publishDebugDataInOptimization(planner_data, optimal_trajs.model_predictive_trajectory);
diff --git a/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp b/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp
index 985a24fbf29f1..1d2845fe4c07b 100644
--- a/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp
+++ b/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp
@@ -18,22 +18,22 @@
 #include "tf2/utils.h"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
+#include <grid_map_cv/GridMapCvConverter.hpp>
+#include <grid_map_ros/GridMapRosConverter.hpp>
+
 #include "autoware_auto_perception_msgs/msg/predicted_object.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
 
 #include "boost/optional.hpp"
-#include <deque>
-
 #include <boost/geometry.hpp>
 #include <boost/geometry/geometries/point_xy.hpp>
 #include <boost/geometry/geometries/polygon.hpp>
+
 #include <algorithm>
+#include <deque>
 #include <limits>
 #include <vector>
 
-#include <grid_map_cv/GridMapCvConverter.hpp>
-#include <grid_map_ros/GridMapRosConverter.hpp>
-
 namespace bg = boost::geometry;
 using point = bg::model::d2::point_xy<double>;
 using polygon = bg::model::polygon<point>;
@@ -436,40 +436,43 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
   footprint.outer().push_back(fp);
   const auto top_right_pos =
     tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, half_width, 0.0).position;
-   fp = {top_right_pos.x, top_right_pos.y};
-   footprint.outer().push_back(fp);
+  fp = {top_right_pos.x, top_right_pos.y};
+  footprint.outer().push_back(fp);
   const auto bottom_right_pos =
     tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, half_width, 0.0).position;
-   fp = {bottom_right_pos.x, bottom_right_pos.y};
-   footprint.outer().push_back(fp);
+  fp = {bottom_right_pos.x, bottom_right_pos.y};
+  footprint.outer().push_back(fp);
   const auto bottom_left_pos =
     tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -half_width, 0.0).position;
-   fp = {bottom_left_pos.x, bottom_left_pos.y};
-
-   footprint.outer().push_back(fp);
-
-   std::vector<point> result;
-   cv::Mat cv_image;
-   grid_map::GridMap grid_map;
-   grid_map::GridMapRosConverter::fromOccupancyGrid(drivable_area, "layer", grid_map);
-   grid_map::GridMapCvConverter::toImage<unsigned char, 1>(grid_map, "layer", CV_8UC1, 0, 100, cv_image);
-   cv::dilate(cv_image, cv_image, cv::Mat(), cv::Point(-1, -1), 2);
-   cv::erode(cv_image, cv_image, cv::Mat(), cv::Point(-1, -1), 2);
-   std::vector<std::vector<cv::Point>> contours;
-   cv::findContours(cv_image, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
-   const auto & info = drivable_area.info;
-   for (const auto & contour : contours) {
-     point p;
-     for (const auto & point : contour) {
-        p = {(info.width - 1.0 - point.y) * info.resolution + info.origin.position.x, (info.height - 1.0 - point.x) * info.resolution + info.origin.position.y};
-     }
-     drivable_area_polygon.outer().push_back(p);
-   }
-   bg::intersection(footprint, drivable_area_polygon, result);
-
-   if (result.size == 1) {
-     return true;
-   }
+  fp = {bottom_left_pos.x, bottom_left_pos.y};
+
+  footprint.outer().push_back(fp);
+
+  std::vector<point> result;
+  cv::Mat cv_image;
+  grid_map::GridMap grid_map;
+  grid_map::GridMapRosConverter::fromOccupancyGrid(drivable_area, "layer", grid_map);
+  grid_map::GridMapCvConverter::toImage<unsigned char, 1>(
+    grid_map, "layer", CV_8UC1, 0, 100, cv_image);
+  cv::dilate(cv_image, cv_image, cv::Mat(), cv::Point(-1, -1), 2);
+  cv::erode(cv_image, cv_image, cv::Mat(), cv::Point(-1, -1), 2);
+  std::vector<std::vector<cv::Point>> contours;
+  cv::findContours(cv_image, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+  const auto & info = drivable_area.info;
+  for (const auto & contour : contours) {
+    point p;
+    for (const auto & point : contour) {
+      p = {
+        (info.width - 1.0 - point.y) * info.resolution + info.origin.position.x,
+        (info.height - 1.0 - point.x) * info.resolution + info.origin.position.y};
+    }
+    drivable_area_polygon.outer().push_back(p);
+  }
+  bg::intersection(footprint, drivable_area_polygon, result);
+
+  if (result.size == 1) {
+    return true;
+  }
 
   return false;
 }