style(pre-commit): autofix

autowarefoundation · Jul 11, 2023 · 042aeea · 042aeea
1 parent 4f9bade
commit 042aeea
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
@@ -18,7 +18,7 @@
       # output
       output_delta_arc_length: 0.5     #  delta arc length for output trajectory [m]
       output_backward_traj_length: 5.0  # backward length for backward trajectory from base_link [m]
-      
+
       vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
                                                      # This margin will be realized with delta_arc_length_for_mpt_points m precision.
 

diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp
@@ -128,9 +128,8 @@ class ObstacleAvoidancePlanner : public rclcpp::Node
   void publishVirtualWall(const geometry_msgs::msg::Pose & stop_pose) const;
   void publishDebugMarkerOfOptimization(const std::vector<TrajectoryPoint> & traj_points) const;
 
-  private:
+private:
   double vehicle_stop_margin_outside_drivable_area_;
-
 };
 }  // namespace obstacle_avoidance_planner
 

diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -456,11 +456,13 @@ void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea(
     for (size_t i = *first_outside_idx; i < optimized_traj_points.size(); ++i) {
       size_t stop_idx = i;
       const auto & op_target_point = motion_utils::calcLongitudinalOffsetPoint(
-        optimized_traj_points, optimized_traj_points.at(i).pose.position, -1.0 * vehicle_stop_margin_outside_drivable_area_);
+        optimized_traj_points, optimized_traj_points.at(i).pose.position,
+        -1.0 * vehicle_stop_margin_outside_drivable_area_);
       if (op_target_point) {
         const auto target_point = op_target_point.get();
         // confirm that target point doesn't overlap with the stop point outside drivable area
-        const auto dist = tier4_autoware_utils::calcDistance2d(optimized_traj_points.at(i), target_point);
+        const auto dist =
+          tier4_autoware_utils::calcDistance2d(optimized_traj_points.at(i), target_point);
         const double overlap_threshold = 1e-3;
         if (dist > overlap_threshold) {
           stop_idx = motion_utils::findNearestSegmentIndex(optimized_traj_points, target_point);