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Signed-off-by: fbattocchia <florencia.battocchia@creativa77.com.ar>
Ekumen-OS · Feb 26, 2025 · 97474dc · 97474dc
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Showing 7 changed files with 10 additions and 12 deletions.
diff --git a/beluga/include/beluga/sensor/likelihood_field_model.hpp b/beluga/include/beluga/sensor/likelihood_field_model.hpp
@@ -23,9 +23,9 @@
 #include <beluga/actions/overlay.hpp>
 #include <beluga/algorithm/distance_map.hpp>
 #include <beluga/sensor/data/value_grid.hpp>
+#include <beluga/sensor/likelihood_field_model_common.hpp>
 #include <range/v3/action/transform.hpp>
 #include <sophus/se2.hpp>
-#include <beluga/sensor/likelihood_field_model_common.hpp>
 
 /**
  * \file
@@ -77,7 +77,7 @@ class LikelihoodFieldModel : public LikelihoodFieldModelCommon<OccupancyGrid> {
    *  for particle states.
    */
   explicit LikelihoodFieldModel(const param_type& params, const map_type& grid)
-      : LikelihoodFieldModelCommon<OccupancyGrid>(params,grid) {}
+      : LikelihoodFieldModelCommon<OccupancyGrid>(params, grid) {}
 
   /// Returns a state weighting function conditioned on 2D lidar hits.
   /**

diff --git a/beluga/include/beluga/sensor/likelihood_field_model_common.hpp b/beluga/include/beluga/sensor/likelihood_field_model_common.hpp
@@ -106,7 +106,7 @@ class LikelihoodFieldModelCommon {
   param_type params_;
   ValueGrid2<float> likelihood_field_;
   Sophus::SE2d world_to_likelihood_field_transform_;
-  
+
   static ValueGrid2<float> make_likelihood_field(const param_type& params, const OccupancyGrid& grid) {
     const auto squared_distance = [&grid](std::size_t first, std::size_t second) {
       return static_cast<float>((grid.coordinates_at(first) - grid.coordinates_at(second)).squaredNorm());
@@ -146,7 +146,7 @@ class LikelihoodFieldModelCommon {
     auto likelihood_values = std::move(distance_map) |                               //
                              ranges::actions::transform(truncate_to_max_distance) |  //
                              ranges::actions::transform(to_likelihood);
-    
+
     return ValueGrid2<float>{std::move(likelihood_values), grid.width(), grid.resolution()};
   }
 };

diff --git a/beluga/include/beluga/sensor/likelihood_field_prob_model.hpp b/beluga/include/beluga/sensor/likelihood_field_prob_model.hpp
@@ -23,9 +23,9 @@
 #include <beluga/actions/overlay.hpp>
 #include <beluga/algorithm/distance_map.hpp>
 #include <beluga/sensor/data/value_grid.hpp>
+#include <beluga/sensor/likelihood_field_model_common.hpp>
 #include <range/v3/action/transform.hpp>
 #include <sophus/se2.hpp>
-#include <beluga/sensor/likelihood_field_model_common.hpp>
 
 /**
  * \file
@@ -38,7 +38,7 @@ namespace beluga {
 /**
  * See Probabilistic Robotics \cite thrun2005probabilistic Chapter 6.4, particularly Table 6.3.
  */
-using LikelihoodFieldProbModelParam = LikelihoodFieldModelCommonParam; 
+using LikelihoodFieldProbModelParam = LikelihoodFieldModelCommonParam;
 
 /// Likelihood field prob sensor model for range finders.
 /**
@@ -77,7 +77,7 @@ class LikelihoodFieldProbModel : public LikelihoodFieldModelCommon<OccupancyGrid
    *  for particle states.
    */
   explicit LikelihoodFieldProbModel(const param_type& params, const map_type& grid)
-      : LikelihoodFieldModelCommon<OccupancyGrid>(params,grid) {}
+      : LikelihoodFieldModelCommon<OccupancyGrid>(params, grid) {}
 
   /// Returns a state weighting function conditioned on 2D lidar hits.
   /**

diff --git a/beluga/test/beluga/CMakeLists.txt b/beluga/test/beluga/CMakeLists.txt
@@ -53,8 +53,8 @@ add_executable(
   sensor/test_bearing_sensor_model.cpp
   sensor/test_landmark_sensor_model.cpp
   sensor/test_lfm_with_unknown_space.cpp
-  sensor/test_likelihood_field_model_common.cpp
   sensor/test_likelihood_field_model.cpp
+  sensor/test_likelihood_field_model_common.cpp
   sensor/test_likelihood_field_prob_model.cpp
   sensor/test_ndt_model.cpp
   test_3d_embedding.cpp

diff --git a/beluga/test/beluga/sensor/test_likelihood_field_model_common.cpp b/beluga/test/beluga/sensor/test_likelihood_field_model_common.cpp
@@ -32,7 +32,6 @@ using beluga::testing::StaticOccupancyGrid;
 using UUT = beluga::LikelihoodFieldModelCommon<StaticOccupancyGrid<5, 5>>;
 
 TEST(LikelihoodFieldModelCommon, LikelihoodField) {
-
   constexpr double kResolution = 0.5;
   // clang-format off
   const auto grid = StaticOccupancyGrid<5, 5>{{

diff --git a/beluga_ros/include/beluga_ros/amcl.hpp b/beluga_ros/include/beluga_ros/amcl.hpp
@@ -109,8 +109,8 @@ class Amcl {
 
   /// Sensor model variant type for runtime selection support.
   using sensor_model_variant = std::variant<
-      beluga::LikelihoodFieldModel<beluga_ros::OccupancyGrid>,  //
-      beluga::LikelihoodFieldProbModel<beluga_ros::OccupancyGrid>, //
+      beluga::LikelihoodFieldModel<beluga_ros::OccupancyGrid>,      //
+      beluga::LikelihoodFieldProbModel<beluga_ros::OccupancyGrid>,  //
       beluga::BeamSensorModel<beluga_ros::OccupancyGrid>>;
 
   /// Execution policy variant type for runtime selection support.

diff --git a/beluga_ros/src/amcl.cpp b/beluga_ros/src/amcl.cpp
@@ -99,7 +99,6 @@ auto Amcl::update(Sophus::SE2d base_pose_in_odom, beluga_ros::LaserScan laser_sc
 
   force_update_ = false;
   return beluga::cluster_based_estimate(beluga::views::states(particles_), beluga::views::weights(particles_));
-
 }
 
 }  // namespace beluga_ros