style(pre-commit): autofix

common/autoware_motion_utils/src/resample/resample.cpp

@@ -287,7 +287,8 @@ tier4_planning_msgs::msg::PathWithLaneId resamplePath(
     autoware::interpolation::calc_closest_segment_indices(input_arclength, resampling_arclength);
 
   const auto zoh = [&](const auto & input) {
-    return autoware::interpolation::zero_order_hold(input_arclength, input, closest_segment_indices);
+    return autoware::interpolation::zero_order_hold(
+      input_arclength, input, closest_segment_indices);
   };
 
   const auto interpolated_pose =
@@ -471,7 +472,8 @@ autoware_planning_msgs::msg::Path resamplePath(
       autoware::interpolation::calc_closest_segment_indices(input_arclength, resampled_arclength);
   }
   const auto zoh = [&](const auto & input) {
-    return autoware::interpolation::zero_order_hold(input_arclength, input, closest_segment_indices);
+    return autoware::interpolation::zero_order_hold(
+      input_arclength, input, closest_segment_indices);
   };
 
   const auto interpolated_pose =
@@ -645,7 +647,8 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
       autoware::interpolation::calc_closest_segment_indices(input_arclength, resampled_arclength);
   }
   const auto zoh = [&](const auto & input) {
-    return autoware::interpolation::zero_order_hold(input_arclength, input, closest_segment_indices);
+    return autoware::interpolation::zero_order_hold(
+      input_arclength, input, closest_segment_indices);
   };
 
   const auto interpolated_pose =

common/autoware_motion_utils/src/trajectory/interpolation.cpp

@@ -70,19 +70,19 @@ TrajectoryPoint calcInterpolatedPoint(
       curr_pt.longitudinal_velocity_mps, next_pt.longitudinal_velocity_mps, clamped_ratio);
     interpolated_point.lateral_velocity_mps = autoware::interpolation::lerp(
       curr_pt.lateral_velocity_mps, next_pt.lateral_velocity_mps, clamped_ratio);
-    interpolated_point.acceleration_mps2 =
-      autoware::interpolation::lerp(curr_pt.acceleration_mps2, next_pt.acceleration_mps2, clamped_ratio);
+    interpolated_point.acceleration_mps2 = autoware::interpolation::lerp(
+      curr_pt.acceleration_mps2, next_pt.acceleration_mps2, clamped_ratio);
   }
 
   // heading rate interpolation
-  interpolated_point.heading_rate_rps =
-    autoware::interpolation::lerp(curr_pt.heading_rate_rps, next_pt.heading_rate_rps, clamped_ratio);
+  interpolated_point.heading_rate_rps = autoware::interpolation::lerp(
+    curr_pt.heading_rate_rps, next_pt.heading_rate_rps, clamped_ratio);
 
   // wheel interpolation
   interpolated_point.front_wheel_angle_rad = autoware::interpolation::lerp(
     curr_pt.front_wheel_angle_rad, next_pt.front_wheel_angle_rad, clamped_ratio);
-  interpolated_point.rear_wheel_angle_rad =
-    autoware::interpolation::lerp(curr_pt.rear_wheel_angle_rad, next_pt.rear_wheel_angle_rad, clamped_ratio);
+  interpolated_point.rear_wheel_angle_rad = autoware::interpolation::lerp(
+    curr_pt.rear_wheel_angle_rad, next_pt.rear_wheel_angle_rad, clamped_ratio);
 
   // time interpolation
   const double interpolated_time = autoware::interpolation::lerp(

control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp

@@ -179,7 +179,8 @@ geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
       p.position.x = autoware::interpolation::lerp(p0.position.x, p1.position.x, ratio);
       p.position.y = autoware::interpolation::lerp(p0.position.y, p1.position.y, ratio);
       p.position.z = autoware::interpolation::lerp(p0.position.z, p1.position.z, ratio);
-      p.orientation = autoware::interpolation::lerpOrientation(p0.orientation, p1.orientation, ratio);
+      p.orientation =
+        autoware::interpolation::lerpOrientation(p0.orientation, p1.orientation, ratio);
       break;
     }
     remain_dist -= dist;

control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp

@@ -123,19 +123,19 @@ TrajectoryPoint calcInterpolatedPoint(
       curr_pt.longitudinal_velocity_mps, next_pt.longitudinal_velocity_mps, clamped_ratio);
     interpolated_point.lateral_velocity_mps = autoware::interpolation::lerp(
       curr_pt.lateral_velocity_mps, next_pt.lateral_velocity_mps, clamped_ratio);
-    interpolated_point.acceleration_mps2 =
-      autoware::interpolation::lerp(curr_pt.acceleration_mps2, next_pt.acceleration_mps2, clamped_ratio);
+    interpolated_point.acceleration_mps2 = autoware::interpolation::lerp(
+      curr_pt.acceleration_mps2, next_pt.acceleration_mps2, clamped_ratio);
   }
 
   // heading rate interpolation
-  interpolated_point.heading_rate_rps =
-    autoware::interpolation::lerp(curr_pt.heading_rate_rps, next_pt.heading_rate_rps, clamped_ratio);
+  interpolated_point.heading_rate_rps = autoware::interpolation::lerp(
+    curr_pt.heading_rate_rps, next_pt.heading_rate_rps, clamped_ratio);
 
   // wheel interpolation
   interpolated_point.front_wheel_angle_rad = autoware::interpolation::lerp(
     curr_pt.front_wheel_angle_rad, next_pt.front_wheel_angle_rad, clamped_ratio);
-  interpolated_point.rear_wheel_angle_rad =
-    autoware::interpolation::lerp(curr_pt.rear_wheel_angle_rad, next_pt.rear_wheel_angle_rad, clamped_ratio);
+  interpolated_point.rear_wheel_angle_rad = autoware::interpolation::lerp(
+    curr_pt.rear_wheel_angle_rad, next_pt.rear_wheel_angle_rad, clamped_ratio);
 
   // time interpolation
   const double interpolated_time = autoware::interpolation::lerp(

planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp

@@ -234,8 +234,10 @@ bool calcStopVelocityWithConstantJerkAccLimit(
   }
 
   if (
-    !autoware::interpolation::isIncreasing(xs) || !autoware::interpolation::isIncreasing(distances) ||
-    !autoware::interpolation::isNotDecreasing(xs) || !autoware::interpolation::isNotDecreasing(distances)) {
+    !autoware::interpolation::isIncreasing(xs) ||
+    !autoware::interpolation::isIncreasing(distances) ||
+    !autoware::interpolation::isNotDecreasing(xs) ||
+    !autoware::interpolation::isNotDecreasing(distances)) {
     return false;
   }
 

planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp

@@ -108,7 +108,8 @@ inline Point2d normal_at_distance(const Point2d & p1, const Point2d & p2, const
 /// @return point interpolated between a and b as per the given ratio
 inline Point2d lerp_point(const Point2d & a, const Point2d & b, const double ratio)
 {
-  return {interpolation::lerp(a.x(), b.x(), ratio), autoware::interpolation::lerp(a.y(), b.y(), ratio)};
+  return {
+    interpolation::lerp(a.x(), b.x(), ratio), autoware::interpolation::lerp(a.y(), b.y(), ratio)};
 }
 
 /// @brief calculate the point with distance and arc length relative to a linestring

planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp

@@ -284,8 +284,10 @@ struct Trajectory : Path
     t.curvatures = autoware::interpolation::lerp(times, curvatures, t.times);
     t.jerks = autoware::interpolation::lerp(times, jerks, t.times);
     t.yaws = autoware::interpolation::lerp(times, yaws, t.times);
-    t.longitudinal_velocities = autoware::interpolation::lerp(times, longitudinal_velocities, t.times);
-    t.longitudinal_accelerations = autoware::interpolation::lerp(times, longitudinal_accelerations, t.times);
+    t.longitudinal_velocities =
+      autoware::interpolation::lerp(times, longitudinal_velocities, t.times);
+    t.longitudinal_accelerations =
+      autoware::interpolation::lerp(times, longitudinal_accelerations, t.times);
     t.lateral_velocities = autoware::interpolation::lerp(times, lateral_velocities, t.times);
     t.lateral_accelerations = autoware::interpolation::lerp(times, lateral_accelerations, t.times);
     t.constraint_results = constraint_results;
@@ -320,8 +322,10 @@ struct Trajectory : Path
     t.curvatures = autoware::interpolation::lerp(times, curvatures, t.times);
     t.jerks = autoware::interpolation::lerp(times, jerks, t.times);
     t.yaws = autoware::interpolation::lerp(times, yaws, t.times);
-    t.longitudinal_velocities = autoware::interpolation::lerp(times, longitudinal_velocities, t.times);
-    t.longitudinal_accelerations = autoware::interpolation::lerp(times, longitudinal_accelerations, t.times);
+    t.longitudinal_velocities =
+      autoware::interpolation::lerp(times, longitudinal_velocities, t.times);
+    t.longitudinal_accelerations =
+      autoware::interpolation::lerp(times, longitudinal_accelerations, t.times);
     t.lateral_velocities = autoware::interpolation::lerp(times, lateral_velocities, t.times);
     t.lateral_accelerations = autoware::interpolation::lerp(times, lateral_accelerations, t.times);
     t.constraint_results = constraint_results;

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp

@@ -16,7 +16,6 @@
 #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
 
 #include "autoware/interpolation/linear_interpolation.hpp"
-
 #include "eigen3/Eigen/Core"
 #include "eigen3/Eigen/LU"
 #include "simple_planning_simulator/utils/csv_loader.hpp"

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp

@@ -57,7 +57,8 @@ class AccelerationMap
 
     // (throttle, vel, acc) map => (throttle, acc) map by fixing vel
     for (const auto & acc_vec : acceleration_map_) {
-      interpolated_acc_vec.push_back(autoware::interpolation::lerp(vel_index_, acc_vec, clamped_vel));
+      interpolated_acc_vec.push_back(
+        autoware::interpolation::lerp(vel_index_, acc_vec, clamped_vel));
     }
     // calculate throttle
     // When the desired acceleration is smaller than the throttle area, return min acc

simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp

@@ -47,7 +47,8 @@ double ActuationMap::getControlCommand(const double actuation, const double stat
   }
 
   const double clamped_actuation = CSVLoader::clampValue(actuation, actuation_index_);
-  return autoware::interpolation::lerp(actuation_index_, interpolated_control_vec, clamped_actuation);
+  return autoware::interpolation::lerp(
+    actuation_index_, interpolated_control_vec, clamped_actuation);
 }
 
 std::optional<double> AccelMap::getThrottle(const double acc, double vel) const

vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp

@@ -50,7 +50,8 @@ bool AccelMap::getThrottle(const double acc, double vel, double & throttle) cons
   const double clamped_vel = CSVLoader::clampValue(vel, vel_index_, "throttle: vel");
   // (throttle, vel, acc) map => (throttle, acc) map by fixing vel
   for (std::vector<double> accelerations : accel_map_) {
-    interpolated_acc_vec.push_back(autoware::interpolation::lerp(vel_index_, accelerations, clamped_vel));
+    interpolated_acc_vec.push_back(
+      autoware::interpolation::lerp(vel_index_, accelerations, clamped_vel));
   }
   // calculate throttle
   // When the desired acceleration is smaller than the throttle area, return false => brake sequence

vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp

@@ -51,7 +51,8 @@ bool BrakeMap::getBrake(const double acc, const double vel, double & brake)
 
   // (throttle, vel, acc) map => (throttle, acc) map by fixing vel
   for (std::vector<double> accelerations : brake_map_) {
-    interpolated_acc_vec.push_back(autoware::interpolation::lerp(vel_index_, accelerations, clamped_vel));
+    interpolated_acc_vec.push_back(
+      autoware::interpolation::lerp(vel_index_, accelerations, clamped_vel));
   }
 
   // calculate brake

vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp

@@ -46,7 +46,8 @@ void SteerMap::getSteer(const double steer_rate, const double steer, double & ou
   const double clamped_steer = CSVLoader::clampValue(steer, steer_index_, "steer: steer");
   std::vector<double> steer_rate_interp = {};
   for (const auto & steer_rate_vec : steer_map_) {
-    steer_rate_interp.push_back(autoware::interpolation::lerp(steer_index_, steer_rate_vec, clamped_steer));
+    steer_rate_interp.push_back(
+      autoware::interpolation::lerp(steer_index_, steer_rate_vec, clamped_steer));
   }
 
   const double clamped_steer_rate =