Fix linter errors

Signed-off-by: Fernando <sanz.fernando172@gmail.com>
Ekumen-OS · Jan 10, 2025 · 6421a3f · 6421a3f
1 parent 3c0516e
commit 6421a3f
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Showing 3 changed files with 12 additions and 22 deletions.
diff --git a/beluga_ros/cmake/ament.cmake b/beluga_ros/cmake/ament.cmake
@@ -24,10 +24,7 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
 add_library(beluga_ros)
-target_sources(
-  beluga_ros
-  PRIVATE src/amcl.cpp
-          src/ndt_ellipsoid.cpp)
+target_sources(beluga_ros PRIVATE src/amcl.cpp src/ndt_ellipsoid.cpp)
 target_include_directories(
   beluga_ros PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
                     $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)

diff --git a/beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp b/beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp
@@ -22,8 +22,8 @@
 
 #include <range/v3/view/enumerate.hpp>
 
-#include <beluga/sensor/data/sparse_value_grid.hpp>
 #include <beluga/sensor/data/ndt_cell.hpp>
+#include <beluga/sensor/data/sparse_value_grid.hpp>
 
 /**
  * \file
@@ -37,10 +37,7 @@ bool use_mean_covariance(
     const beluga::NDTCell<3> cell,
     beluga_ros::msg::Marker& marker);
 
-void use_cell_size(
-    const Eigen::Vector<int, 3>& position,
-    double size,
-    beluga_ros::msg::Marker& marker);
+void use_cell_size(const Eigen::Vector<int, 3>& position, double size, beluga_ros::msg::Marker& marker);
 
 /// Assign an ellipsoid to each cell of a SparseValueGrid. A cube is used instead if the distribution of the
 /// cell is not suitable for the rotation matrix creation.
@@ -74,7 +71,7 @@ beluga_ros::msg::MarkerArray assign_obstacle_map(
     const auto& [cellCenter, cell] = entry;
     beluga_ros::msg::Marker marker;
     marker.header.frame_id = "map";
-    marker.id = index+1;
+    marker.id = index + 1;
     marker.ns = "obstacles";
 
     // Try to create an ellipsoid with values of the cell

diff --git a/beluga_ros/src/ndt_ellipsoid.cpp b/beluga_ros/src/ndt_ellipsoid.cpp
@@ -26,17 +26,17 @@ inline bool isApprox(RealScalar x, RealScalar y, RealScalar prec = Eigen::NumTra
   return std::abs(x - y) < prec;
 }
 
-}
+}  // namespace
 
 bool use_mean_covariance(
     Eigen::SelfAdjointEigenSolver<Eigen::Matrix<double, 3, 3>>& eigenSolver,
     const beluga::NDTCell<3> cell,
-    beluga_ros::msg::Marker& marker){
+    beluga_ros::msg::Marker& marker) {
   eigenSolver.compute(cell.covariance);
-  if(eigenSolver.info() != Eigen::Success){
+  if (eigenSolver.info() != Eigen::Success) {
     return false;
   }
-  
+
   // Compute the rotation based on the covariance matrix
   const auto eigenvectors = eigenSolver.eigenvectors().real();
   const auto eigenvalues = eigenSolver.eigenvalues();
@@ -46,12 +46,12 @@ bool use_mean_covariance(
   rotationMatrix << eigenvectors.col(0), eigenvectors.col(1), eigenvectors.col(2);
   scalevector = Eigen::Vector3d{eigenvalues.x(), eigenvalues.y(), eigenvalues.z()};
 
-  if(!isApprox(std::abs(rotationMatrix.determinant()), 1.0)) {
+  if (!isApprox(std::abs(rotationMatrix.determinant()), 1.0)) {
     return false;
   }
-  
+
   // Permute columns to ensure the rotation is in fact a rotation
-  if(rotationMatrix.determinant() < 0) {
+  if (rotationMatrix.determinant() < 0) {
     rotationMatrix << eigenvectors.col(1), eigenvectors.col(0), eigenvectors.col(2);
     scalevector = Eigen::Vector3d{eigenvalues.y(), eigenvalues.x(), eigenvalues.z()};
   }
@@ -84,10 +84,7 @@ bool use_mean_covariance(
   return true;
 }
 
-void use_cell_size(
-    const Eigen::Vector<int, 3>& position,
-    double size,
-    beluga_ros::msg::Marker& marker){
+void use_cell_size(const Eigen::Vector<int, 3>& position, double size, beluga_ros::msg::Marker& marker) {
   marker.type = beluga_ros::msg::Marker::CUBE;
   marker.action = beluga_ros::msg::Marker::ADD;
 
@@ -105,5 +102,4 @@ void use_cell_size(
   marker.color.a = 1.0f;
 }
 
-
 }  // namespace beluga_ros