ci(pre-commit): autofix

autowarefoundation · Mar 30, 2022 · 3458c6f · 3458c6f
1 parent 6967e2d
commit 3458c6f
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Showing 2 changed files with 16 additions and 8 deletions.
diff --git a/...rc/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp b/...rc/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp
@@ -72,7 +72,8 @@ AnalyticalJerkConstrainedSmoother::AnalyticalJerkConstrainedSmoother(rclcpp::Nod
 {
   smoother_param_.resample.ds_resample = node.declare_parameter("resample.ds_resample", 0.1);
   smoother_param_.resample.num_resample = node.declare_parameter("resample.num_resample", 1.0);
-  smoother_param_.resample.delta_yaw_threshold = node.declare_parameter("resample.delta_yaw_threshold", 0.785);
+  smoother_param_.resample.delta_yaw_threshold =
+    node.declare_parameter("resample.delta_yaw_threshold", 0.785);
   smoother_param_.latacc.enable_constant_velocity_while_turning =
     node.declare_parameter("latacc.enable_constant_velocity_while_turning", false);
   smoother_param_.latacc.constant_velocity_dist_threshold =
@@ -83,9 +84,11 @@ AnalyticalJerkConstrainedSmoother::AnalyticalJerkConstrainedSmoother(rclcpp::Nod
   smoother_param_.forward.min_jerk = node.declare_parameter("forward.min_jerk", -0.3);
   smoother_param_.forward.kp = node.declare_parameter("forward.kp", 0.3);
   smoother_param_.backward.start_jerk = node.declare_parameter("backward.start_jerk", -0.1);
-  smoother_param_.backward.min_jerk_mild_stop = node.declare_parameter("backward.min_jerk_mild_stop", -0.3);
+  smoother_param_.backward.min_jerk_mild_stop =
+    node.declare_parameter("backward.min_jerk_mild_stop", -0.3);
   smoother_param_.backward.min_jerk = node.declare_parameter("backward.min_jerk", -1.5);
-  smoother_param_.backward.min_acc_mild_stop = node.declare_parameter("backward.min_acc_mild_stop", -1.0);
+  smoother_param_.backward.min_acc_mild_stop =
+    node.declare_parameter("backward.min_acc_mild_stop", -1.0);
   smoother_param_.backward.min_acc = node.declare_parameter("backward.min_acc", -2.5);
   smoother_param_.backward.span_jerk = node.declare_parameter("backward.span_jerk", -0.01);
 }

diff --git a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp
@@ -23,7 +23,8 @@
 
 namespace motion_velocity_smoother
 {
-SmootherBase::SmootherBase(rclcpp::Node & node) {
+SmootherBase::SmootherBase(rclcpp::Node & node)
+{
   std::cout << "SmootherBase constructor!" << std::endl;
   base_param_.max_accel = node.declare_parameter("normal.max_acc", 2.0);
   std::cout << "max_accel: " << base_param_.max_accel << std::endl;
@@ -32,11 +33,15 @@ SmootherBase::SmootherBase(rclcpp::Node & node) {
   base_param_.max_jerk = node.declare_parameter("normal.max_jerk", 0.3);
   base_param_.min_jerk = node.declare_parameter("normal.min_jerk", -0.1);
   base_param_.max_lateral_accel = node.declare_parameter("max_lateral_accel", 0.2);
-  base_param_.decel_distance_before_curve = node.declare_parameter("decel_distance_before_curve", 3.5);
-  base_param_.decel_distance_after_curve = node.declare_parameter("decel_distance_after_curve", 0.0);
+  base_param_.decel_distance_before_curve =
+    node.declare_parameter("decel_distance_before_curve", 3.5);
+  base_param_.decel_distance_after_curve =
+    node.declare_parameter("decel_distance_after_curve", 0.0);
   base_param_.min_curve_velocity = node.declare_parameter("min_curve_velocity", 1.38);
-  base_param_.resample_param.max_trajectory_length = node.declare_parameter("max_trajectory_length", 200.0);
-  base_param_.resample_param.min_trajectory_length = node.declare_parameter("min_trajectory_length", 30.0);
+  base_param_.resample_param.max_trajectory_length =
+    node.declare_parameter("max_trajectory_length", 200.0);
+  base_param_.resample_param.min_trajectory_length =
+    node.declare_parameter("min_trajectory_length", 30.0);
   base_param_.resample_param.resample_time = node.declare_parameter("resample_time", 10.0);
   base_param_.resample_param.dense_resample_dt = node.declare_parameter("dense_resample_dt", 0.1);
   base_param_.resample_param.dense_min_interval_distance =