ci(pre-commit): autofix

autowarefoundation · Jan 19, 2023 · ad280ca · ad280ca
1 parent 63a3c14
commit ad280ca
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Showing 3 changed files with 10 additions and 7 deletions.
diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/utils.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/utils.hpp
@@ -359,7 +359,8 @@ namespace drivable_area_utils
 bool isOutsideDrivableAreaFromRectangleFootprint(
   const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point,
   const std::vector<geometry_msgs::msg::Point> & left_bound,
-  const std::vector<geometry_msgs::msg::Point> & right_bound, const VehicleParam & vehicle_param, const bool is_considering_footprint_edges);
+  const std::vector<geometry_msgs::msg::Point> & right_bound, const VehicleParam & vehicle_param,
+  const bool is_considering_footprint_edges);
 }
 
 #endif  // OBSTACLE_AVOIDANCE_PLANNER__UTILS__UTILS_HPP_
diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -305,7 +305,8 @@ ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & n
     enable_pre_smoothing_ = declare_parameter<bool>("option.enable_pre_smoothing");
     skip_optimization_ = declare_parameter<bool>("option.skip_optimization");
     reset_prev_optimization_ = declare_parameter<bool>("option.reset_prev_optimization");
-    is_considering_footprint_edges_ = declare_parameter<bool>("option.is_considering_footprint_edges");
+    is_considering_footprint_edges_ =
+      declare_parameter<bool>("option.is_considering_footprint_edges");
   }
 
   {  // trajectory parameter
@@ -601,7 +602,8 @@ rcl_interfaces::msg::SetParametersResult ObstacleAvoidancePlanner::onParam(
     updateParam<bool>(parameters, "option.enable_pre_smoothing", enable_pre_smoothing_);
     updateParam<bool>(parameters, "option.skip_optimization", skip_optimization_);
     updateParam<bool>(parameters, "option.reset_prev_optimization", reset_prev_optimization_);
-    updateParam<bool>(parameters, "option.is_considering_footprint_edges", is_considering_footprint_edges_);
+    updateParam<bool>(
+      parameters, "option.is_considering_footprint_edges", is_considering_footprint_edges_);
   }
 
   {  // trajectory parameter

diff --git a/planning/obstacle_avoidance_planner/src/utils/utils.cpp b/planning/obstacle_avoidance_planner/src/utils/utils.cpp
@@ -686,7 +686,8 @@ namespace drivable_area_utils
 bool isOutsideDrivableAreaFromRectangleFootprint(
   const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point,
   const std::vector<geometry_msgs::msg::Point> & left_bound,
-  const std::vector<geometry_msgs::msg::Point> & right_bound, const VehicleParam & vehicle_param, const bool is_considering_footprint_edges)
+  const std::vector<geometry_msgs::msg::Point> & right_bound, const VehicleParam & vehicle_param,
+  const bool is_considering_footprint_edges)
 {
   if (left_bound.empty() || right_bound.empty()) {
     return false;
@@ -711,8 +712,7 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
     tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -base_to_left, 0.0)
       .position;
 
-  if(is_considering_footprint_edges){
-
+  if (is_considering_footprint_edges) {
     LinearRing2d footprint_polygon;
     LineString2d left_bound_line;
     LineString2d right_bound_line;
@@ -742,7 +742,7 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
       return true;
     }
   }
-  
+
   const bool front_top_left = isFrontDrivableArea(top_left_pos, left_bound, right_bound);
   const bool front_top_right = isFrontDrivableArea(top_right_pos, left_bound, right_bound);
   const bool front_bottom_left = isFrontDrivableArea(bottom_left_pos, left_bound, right_bound);