style(pre-commit): autofix

N-Eiki · Jun 4, 2024 · 6eee396 · 6eee396
1 parent a003829
commit 6eee396
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Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
@@ -15,6 +15,8 @@
 #ifndef EXTERNAL_CMD_CONVERTER__NODE_HPP_
 #define EXTERNAL_CMD_CONVERTER__NODE_HPP_
 
+#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <raw_vehicle_cmd_converter/accel_map.hpp>
 #include <raw_vehicle_cmd_converter/brake_map.hpp>
@@ -26,7 +28,7 @@
 #include <tier4_control_msgs/msg/gate_mode.hpp>
 #include <tier4_external_api_msgs/msg/control_command_stamped.hpp>
 #include <tier4_external_api_msgs/msg/heartbeat.hpp>
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+
 #include <memory>
 #include <string>
 
@@ -60,18 +62,16 @@ class ExternalCmdConverterNode : public rclcpp::Node
     sub_emergency_stop_heartbeat_;
 
   // Polling Subscriber
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> velocity_sub_{
-    this, "in/odometry"};
+  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> velocity_sub_{this, "in/odometry"};
   tier4_autoware_utils::InterProcessPollingSubscriber<GearCommand> shift_cmd_sub_{
     this, "in/shift_cmd"};
   tier4_autoware_utils::InterProcessPollingSubscriber<GateMode> gate_mode_sub_{
     this, "in/current_gate_mode"};
 
-
   void onExternalCmd(const ExternalControlCommand::ConstSharedPtr cmd_ptr);
   void onEmergencyStopHeartbeat(const tier4_external_api_msgs::msg::Heartbeat::ConstSharedPtr msg);
 
-  Odometry::ConstSharedPtr current_velocity_ptr_{nullptr}; // [m/s]
+  Odometry::ConstSharedPtr current_velocity_ptr_{nullptr};  // [m/s]
   GearCommand::ConstSharedPtr current_shift_cmd_{nullptr};
   tier4_control_msgs::msg::GateMode::ConstSharedPtr current_gate_mode_{nullptr};
 

diff --git a/vehicle/external_cmd_converter/src/node.cpp b/vehicle/external_cmd_converter/src/node.cpp
@@ -99,7 +99,7 @@ void ExternalCmdConverterNode::onExternalCmd(const ExternalControlCommand::Const
 
   // take data from subscribers
   current_velocity_ptr_ = velocity_sub_.takeData();
-  current_shift_cmd_    = shift_cmd_sub_.takeData();
+  current_shift_cmd_ = shift_cmd_sub_.takeData();
 
   // Wait for input data
   if (!current_velocity_ptr_ || !acc_map_initialized_) {
@@ -108,7 +108,8 @@ void ExternalCmdConverterNode::onExternalCmd(const ExternalControlCommand::Const
 
   // Calculate reference velocity and acceleration
   const double sign = getShiftVelocitySign(*current_shift_cmd_);
-  const double ref_acceleration = calculateAcc(*cmd_ptr, std::fabs(current_velocity_ptr_->twist.twist.linear.x));
+  const double ref_acceleration =
+    calculateAcc(*cmd_ptr, std::fabs(current_velocity_ptr_->twist.twist.linear.x));
 
   if (ref_acceleration > 0.0 && sign == 0.0) {
     RCLCPP_WARN_THROTTLE(
@@ -117,7 +118,8 @@ void ExternalCmdConverterNode::onExternalCmd(const ExternalControlCommand::Const
       ref_acceleration, current_shift_cmd_->command);
   }
 
-  double ref_velocity = current_velocity_ptr_->twist.twist.linear.x + ref_acceleration * ref_vel_gain_ * sign;
+  double ref_velocity =
+    current_velocity_ptr_->twist.twist.linear.x + ref_acceleration * ref_vel_gain_ * sign;
   if (current_shift_cmd_->command == GearCommand::REVERSE) {
     ref_velocity = std::min(0.0, ref_velocity);
   } else if (