diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 9d7c0531a4..3b115a17e5 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -26,7 +26,7 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.43.0 + rev: v0.44.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] @@ -37,7 +37,7 @@ repos: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.35.1 + rev: v1.37.0 hooks: - id: yamllint @@ -57,24 +57,24 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.10.0-2 + rev: v3.11.0-1 hooks: - id: shfmt args: [-w, -s, -i=4] - repo: https://github.com/pycqa/isort - rev: 5.13.2 + rev: 6.0.1 hooks: - id: isort - repo: https://github.com/psf/black - rev: 24.10.0 + rev: 25.1.0 hooks: - id: black args: [--line-length=100] - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v19.1.6 + rev: v20.1.0 hooks: - id: clang-format types_or: [c++, c, cuda] @@ -87,7 +87,7 @@ repos: exclude: .cu - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.30.0 + rev: 0.32.1 hooks: - id: check-metaschema files: ^.+/schema/.*schema\.json$ diff --git a/common/autoware_geography_utils/src/height.cpp b/common/autoware_geography_utils/src/height.cpp index 15d4160b7c..921e0a7528 100644 --- a/common/autoware_geography_utils/src/height.cpp +++ b/common/autoware_geography_utils/src/height.cpp @@ -57,10 +57,11 @@ double convert_height( return it->second(height, latitude, longitude); } - throw std::invalid_argument(std::string{"Invalid conversion types: "} - .append(source_vertical_datum) - .append(" to ") - .append(target_vertical_datum)); + throw std::invalid_argument( + std::string{"Invalid conversion types: "} + .append(source_vertical_datum) + .append(" to ") + .append(target_vertical_datum)); } } // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/src/lanelet2_projector.cpp b/common/autoware_geography_utils/src/lanelet2_projector.cpp index 7eb14a56d0..589fea96cb 100644 --- a/common/autoware_geography_utils/src/lanelet2_projector.cpp +++ b/common/autoware_geography_utils/src/lanelet2_projector.cpp @@ -61,10 +61,12 @@ std::unique_ptr get_lanelet2_projector(const MapProjectorInf return std::make_unique(projector); } - throw std::invalid_argument(std::string{"Invalid map projector type: "} - .append(projector_info.projector_type) - .append(". Currently supported types: MGRS, LocalCartesianUTM, " - "LocalCartesian and TransverseMercator")); + throw std::invalid_argument( + std::string{"Invalid map projector type: "} + .append(projector_info.projector_type) + .append( + ". Currently supported types: MGRS, LocalCartesianUTM, " + "LocalCartesian and TransverseMercator")); } } // namespace autoware::geography_utils diff --git a/common/autoware_motion_utils/src/vehicle/vehicle_state_checker.cpp b/common/autoware_motion_utils/src/vehicle/vehicle_state_checker.cpp index e2a4754a56..1f685d9df2 100644 --- a/common/autoware_motion_utils/src/vehicle/vehicle_state_checker.cpp +++ b/common/autoware_motion_utils/src/vehicle/vehicle_state_checker.cpp @@ -124,8 +124,9 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati return false; } - return std::abs(autoware::motion_utils::calcSignedArcLength( - trajectory_ptr_->points, p, idx.value())) < th_arrived_distance_m; + return std::abs( + autoware::motion_utils::calcSignedArcLength(trajectory_ptr_->points, p, idx.value())) < + th_arrived_distance_m; } void VehicleArrivalChecker::onTrajectory(const Trajectory::ConstSharedPtr msg) diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp index 88ef35b38e..ab2c1178fb 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp @@ -146,14 +146,16 @@ class InterpolatorCommonInterface InterpolationResult> { if (bases.size() != values.size()) { - return tl::unexpected(InterpolationFailure{ - "base size " + std::to_string(bases.size()) + " and value size " + - std::to_string(values.size()) + " are different"}); + return tl::unexpected( + InterpolationFailure{ + "base size " + std::to_string(bases.size()) + " and value size " + + std::to_string(values.size()) + " are different"}); } if (const auto minimum_required = minimum_required_points(); bases.size() < minimum_required) { - return tl::unexpected(InterpolationFailure{ - "base size " + std::to_string(bases.size()) + " is less than minimum required " + - std::to_string(minimum_required)}); + return tl::unexpected( + InterpolationFailure{ + "base size " + std::to_string(bases.size()) + " is less than minimum required " + + std::to_string(minimum_required)}); } if (!build_impl(std::forward(bases), std::forward(values))) { return tl::unexpected( diff --git a/common/autoware_trajectory/src/path_point.cpp b/common/autoware_trajectory/src/path_point.cpp index 69075c8420..8c0e413dbf 100644 --- a/common/autoware_trajectory/src/path_point.cpp +++ b/common/autoware_trajectory/src/path_point.cpp @@ -90,8 +90,9 @@ interpolator::InterpolationResult Trajectory::build( if (const auto result = this->longitudinal_velocity_mps().build( bases_, std::move(longitudinal_velocity_mps_values)); !result) { - return tl::unexpected(interpolator::InterpolationFailure{ - "failed to interpolate PathPoint::longitudinal_velocity_mps"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "failed to interpolate PathPoint::longitudinal_velocity_mps"}); } if (const auto result = this->lateral_velocity_mps().build(bases_, std::move(lateral_velocity_mps_values)); diff --git a/common/autoware_trajectory/src/trajectory_point.cpp b/common/autoware_trajectory/src/trajectory_point.cpp index cb9ff14a9c..e78e21840e 100644 --- a/common/autoware_trajectory/src/trajectory_point.cpp +++ b/common/autoware_trajectory/src/trajectory_point.cpp @@ -90,9 +90,11 @@ interpolator::InterpolationResult Trajectory::build( if ( !longitudinal_velocity_mps_ || !lateral_velocity_mps_ || !heading_rate_rps_ || !acceleration_mps2_ || !front_wheel_angle_rad_ || !rear_wheel_angle_rad_) { - return tl::unexpected(interpolator::InterpolationFailure{ - "longitudinal_velocity_mps/lateral_velocity_mps/heading_rate_rps/acceleration_mps2/" - "front_wheel_angle_rad/rear_wheel_angle_rad interpolator are nullptr! check Builder usage"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "longitudinal_velocity_mps/lateral_velocity_mps/heading_rate_rps/acceleration_mps2/" + "front_wheel_angle_rad/rear_wheel_angle_rad interpolator are nullptr! check Builder " + "usage"}); } std::vector poses; @@ -121,38 +123,44 @@ interpolator::InterpolationResult Trajectory::build( if (const auto result = this->longitudinal_velocity_mps().build( bases_, std::move(longitudinal_velocity_mps_values)); !result) { - return tl::unexpected(interpolator::InterpolationFailure{ - "failed to interpolate TrajectoryPoint::longitudinal_velocity_mps"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "failed to interpolate TrajectoryPoint::longitudinal_velocity_mps"}); } if (const auto result = this->lateral_velocity_mps().build(bases_, std::move(lateral_velocity_mps_values)); !result) { - return tl::unexpected(interpolator::InterpolationFailure{ - "failed to interpolate TrajectoryPoint::lateral_velocity_mps"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "failed to interpolate TrajectoryPoint::lateral_velocity_mps"}); } if (const auto result = this->heading_rate_rps().build(bases_, std::move(heading_rate_rps_values)); !result) { - return tl::unexpected(interpolator::InterpolationFailure{ - "failed to interpolate TrajectoryPoint::heading_rate_rps"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "failed to interpolate TrajectoryPoint::heading_rate_rps"}); } if (const auto result = this->acceleration_mps2().build(bases_, std::move(acceleration_mps2_values)); !result) { - return tl::unexpected(interpolator::InterpolationFailure{ - "failed to interpolate TrajectoryPoint::acceleration_mps2"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "failed to interpolate TrajectoryPoint::acceleration_mps2"}); } if (const auto result = this->front_wheel_angle_rad().build(bases_, std::move(front_wheel_angle_rad_values)); !result) { - return tl::unexpected(interpolator::InterpolationFailure{ - "failed to interpolate TrajectoryPoint::front_wheel_angle_rad"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "failed to interpolate TrajectoryPoint::front_wheel_angle_rad"}); } if (const auto result = this->rear_wheel_angle_rad().build(bases_, std::move(rear_wheel_angle_rad_values)); !result) { - return tl::unexpected(interpolator::InterpolationFailure{ - "failed to interpolate TrajectoryPoint::rear_wheel_angle_rad"}); + return tl::unexpected( + interpolator::InterpolationFailure{ + "failed to interpolate TrajectoryPoint::rear_wheel_angle_rad"}); } return interpolator::InterpolationSuccess{}; diff --git a/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp b/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp index 03cc75fa75..99155b09af 100644 --- a/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp +++ b/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp @@ -27,8 +27,9 @@ using autoware::motion_utils::findNearestIndex; SimplePurePursuitNode::SimplePurePursuitNode(const rclcpp::NodeOptions & node_options) : Node("simple_pure_pursuit", node_options), - pub_control_command_(create_publisher( - "~/output/control_command", rclcpp::QoS(1).transient_local())), + pub_control_command_( + create_publisher( + "~/output/control_command", rclcpp::QoS(1).transient_local())), vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo()), lookahead_gain_(declare_parameter("lookahead_gain")), lookahead_min_distance_(declare_parameter("lookahead_min_distance")), diff --git a/perception/autoware_ground_filter/src/node.cpp b/perception/autoware_ground_filter/src/node.cpp index 62174040f2..2d805aa2ed 100644 --- a/perception/autoware_ground_filter/src/node.cpp +++ b/perception/autoware_ground_filter/src/node.cpp @@ -220,17 +220,19 @@ void GroundFilterComponent::subscribe() message_filters::Synchronizer>>(max_queue_size_); sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_); - sync_input_indices_a_->registerCallback(std::bind( - &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1, - std::placeholders::_2)); + sync_input_indices_a_->registerCallback( + std::bind( + &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1, + std::placeholders::_2)); } else { sync_input_indices_e_ = std::make_shared>>(max_queue_size_); sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_); - sync_input_indices_e_->registerCallback(std::bind( - &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1, - std::placeholders::_2)); + sync_input_indices_e_->registerCallback( + std::bind( + &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1, + std::placeholders::_2)); } } else { std::function cb = std::bind( diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp index d819d63cc3..2fccd32a0a 100644 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -1702,8 +1702,9 @@ void RouteHandler::removeOverlappedCenterlineWithWaypoints( int target_lanelet_sequence_index = static_cast(piecewise_waypoints_lanelet_sequence_index); while (isIndexWithinVector(lanelet_sequence, target_lanelet_sequence_index)) { auto & target_piecewise_ref_points = piecewise_ref_points_vec.at(target_lanelet_sequence_index); - const double target_lanelet_arc_length = boost::geometry::length(lanelet::utils::to2D( - lanelet_sequence.at(target_lanelet_sequence_index).centerline().basicLineString())); + const double target_lanelet_arc_length = boost::geometry::length( + lanelet::utils::to2D( + lanelet_sequence.at(target_lanelet_sequence_index).centerline().basicLineString())); // search overlapped ref points in the target lanelet std::vector overlapped_ref_points_indices{}; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp index 59d0c3d079..0f2e9996be 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp @@ -82,9 +82,10 @@ void StopLineModuleManager::launchNewModules( getStopLinesWithLaneIdOnPath(path, planner_data_->route_handler_->getLaneletMapPtr())) { const auto module_id = stop_line_with_lane_id.first.id(); if (!isModuleRegistered(module_id)) { - registerModule(std::make_shared( - module_id, stop_line_with_lane_id.first, planner_param_, - logger_.get_child("stop_line_module"), clock_, time_keeper_, planning_factor_interface_)); + registerModule( + std::make_shared( + module_id, stop_line_with_lane_id.first, planner_param_, + logger_.get_child("stop_line_module"), clock_, time_keeper_, planning_factor_interface_)); } } } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp index 34502187dc..24cb66be0a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp @@ -126,8 +126,9 @@ double calc_time_to_reach_collision_point( const double min_velocity_to_reach_collision_point) { const double dist_from_ego_to_obstacle = - std::abs(autoware::motion_utils::calcSignedArcLength( - traj_points, odometry.pose.pose.position, collision_point)) - + std::abs( + autoware::motion_utils::calcSignedArcLength( + traj_points, odometry.pose.pose.position, collision_point)) - dist_to_bumper; return dist_from_ego_to_obstacle / std::max(min_velocity_to_reach_collision_point, std::abs(odometry.twist.twist.linear.x)); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/polygon_utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/polygon_utils.cpp index aca117c7ba..71c6650e45 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/polygon_utils.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/polygon_utils.cpp @@ -244,17 +244,17 @@ std::vector create_one_step_polygons( idx_poly, autoware_utils::to_footprint(pose, front_length, rear_length, vehicle_width).outer()); boost::geometry::append( - idx_poly, - autoware_utils::from_msg(autoware_utils::calc_offset_pose( - pose, front_length, vehicle_width * 0.5 + lat_margin, 0.0) - .position) - .to_2d()); + idx_poly, autoware_utils::from_msg( + autoware_utils::calc_offset_pose( + pose, front_length, vehicle_width * 0.5 + lat_margin, 0.0) + .position) + .to_2d()); boost::geometry::append( - idx_poly, - autoware_utils::from_msg(autoware_utils::calc_offset_pose( - pose, front_length, -vehicle_width * 0.5 - lat_margin, 0.0) - .position) - .to_2d()); + idx_poly, autoware_utils::from_msg( + autoware_utils::calc_offset_pose( + pose, front_length, -vehicle_width * 0.5 - lat_margin, 0.0) + .position) + .to_2d()); } else { boost::geometry::append( idx_poly, autoware_utils::to_footprint(