style(pre-commit): autofix

Author: pre-commit-ci[bot]

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp

@@ -248,7 +248,8 @@ class VelocitySmootherNode : public rclcpp::Node
 
   TrajectoryPoint calc_projected_trajectory_point(
     const TrajectoryPoints & trajectory, const Pose & pose) const;
-  TrajectoryPoint calc_projected_trajectory_point_from_ego(const TrajectoryPoints & trajectory) const;
+  TrajectoryPoint calc_projected_trajectory_point_from_ego(
+    const TrajectoryPoints & trajectory) const;
 
   // parameter handling
   void init_common_param();

planning/autoware_velocity_smoother/src/node.cpp

@@ -474,7 +474,8 @@ void VelocitySmootherNode::on_current_trajectory(const Trajectory::ConstSharedPt
 
   // calculate prev closest point
   if (!prev_output_.empty()) {
-    current_closest_point_from_prev_output_ = calc_projected_trajectory_point_from_ego(prev_output_);
+    current_closest_point_from_prev_output_ =
+      calc_projected_trajectory_point_from_ego(prev_output_);
   }
 
   // calculate distance to insert external velocity limit
@@ -750,8 +751,8 @@ void VelocitySmootherNode::insert_behind_velocity(
         return autoware::motion_utils::findNearestSegmentIndex(
           prev_output_, output.at(i).pose.position);
       }();
-      const auto prev_output_point =
-        trajectory_utils::calc_interpolated_trajectory_point(prev_output_, output.at(i).pose, seg_idx);
+      const auto prev_output_point = trajectory_utils::calc_interpolated_trajectory_point(
+        prev_output_, output.at(i).pose, seg_idx);
 
       // output should be always positive: TODO(Horibe) think better way
       output.at(i).longitudinal_velocity_mps =
@@ -819,7 +820,8 @@ std::pair<Motion, VelocitySmootherNode::InitializeType> VelocitySmootherNode::ca
       if (stop_dist > node_param_.stop_dist_to_prohibit_engage) {
         RCLCPP_DEBUG(
           get_logger(),
-          "calc_initial_motion : vehicle speed is low (%.3f), and desired speed is high (%.3f). Use "
+          "calc_initial_motion : vehicle speed is low (%.3f), and desired speed is high (%.3f). "
+          "Use "
           "engage speed (%.3f) until vehicle speed reaches engage_vel_thr (%.3f). stop_dist = %.3f",
           vehicle_speed, target_vel, node_param_.engage_velocity, engage_vel_thr, stop_dist);
         const double engage_acceleration =
@@ -834,7 +836,8 @@ std::pair<Motion, VelocitySmootherNode::InitializeType> VelocitySmootherNode::ca
     } else if (target_vel > 0.0) {
       RCLCPP_WARN_THROTTLE(
         get_logger(), *clock_, 3000,
-        "calc_initial_motion : target velocity(%.3f[m/s]) is lower than engage velocity(%.3f[m/s]). ",
+        "calc_initial_motion : target velocity(%.3f[m/s]) is lower than engage "
+        "velocity(%.3f[m/s]). ",
         target_vel, node_param_.engage_velocity);
     }
   }

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

@@ -315,7 +315,8 @@ TrajectoryPoints AnalyticalJerkConstrainedSmoother::apply_lateral_acceleration_f
     static_cast<size_t>(std::max(static_cast<int>((curvature_calc_dist) / points_interval), 1));
 
   // Calculate curvature assuming the trajectory points interval is constant
-  const auto curvature_v = trajectory_utils::calc_trajectory_curvature_from_3_points(output, idx_dist);
+  const auto curvature_v =
+    trajectory_utils::calc_trajectory_curvature_from_3_points(output, idx_dist);
 
   // Decrease speed according to lateral G
   const size_t before_decel_index =

planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp

@@ -77,7 +77,8 @@ bool LinfPseudoJerkSmoother::apply(
     return false;
   }
 
-  std::vector<double> interval_dist_arr = trajectory_utils::calc_trajectory_interval_distance(input);
+  std::vector<double> interval_dist_arr =
+    trajectory_utils::calc_trajectory_interval_distance(input);
 
   std::vector<double> v_max(N, 0.0);
   for (size_t i = 0; i < N; ++i) {

planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp

@@ -54,7 +54,8 @@ TrajectoryPoints applyPreProcess(
     arc_length.push_back(s);
   }
 
-  const auto points = autoware::motion_utils::resampleTrajectory(convertToTrajectory(input), arc_length);
+  const auto points =
+    autoware::motion_utils::resampleTrajectory(convertToTrajectory(input), arc_length);
   output = convertToTrajectoryPointArray(points);
   output.back() = input.back();  // keep the final speed.
 
@@ -173,7 +174,8 @@ TrajectoryPoints SmootherBase::apply_lateral_acceleration_filter(
     std::max(static_cast<int>((base_param_.curvature_calculation_distance) / points_interval), 1));
 
   // Calculate curvature assuming the trajectory points interval is constant
-  const auto curvature_v = trajectory_utils::calc_trajectory_curvature_from_3_points(output, idx_dist);
+  const auto curvature_v =
+    trajectory_utils::calc_trajectory_curvature_from_3_points(output, idx_dist);
 
   //  Decrease speed according to lateral G
   const size_t before_decel_index =
@@ -183,10 +185,11 @@ TrajectoryPoints SmootherBase::apply_lateral_acceleration_filter(
   const double max_lateral_accel_abs = std::fabs(base_param_.max_lateral_accel);
 
   const auto latacc_min_vel_arr =
-    enable_smooth_limit ? trajectory_utils::calc_velocity_profile_with_constant_jerk_and_acceleration_limit(
-                            output, v0, a0, base_param_.min_jerk, base_param_.max_accel,
-                            base_param_.min_decel_for_lateral_acc_lim_filter)
-                        : std::vector<double>{};
+    enable_smooth_limit
+      ? trajectory_utils::calc_velocity_profile_with_constant_jerk_and_acceleration_limit(
+          output, v0, a0, base_param_.min_jerk, base_param_.max_accel,
+          base_param_.min_decel_for_lateral_acc_lim_filter)
+      : std::vector<double>{};
 
   for (size_t i = 0; i < output.size(); ++i) {
     double curvature = 0.0;
@@ -229,7 +232,8 @@ TrajectoryPoints SmootherBase::apply_steering_rate_limit(
     std::max(static_cast<int>((base_param_.curvature_calculation_distance) / points_interval), 1));
 
   // Step1. Calculate curvature assuming the trajectory points interval is constant.
-  const auto curvature_v = trajectory_utils::calc_trajectory_curvature_from_3_points(output, idx_dist);
+  const auto curvature_v =
+    trajectory_utils::calc_trajectory_curvature_from_3_points(output, idx_dist);
 
   // Step2. Calculate steer rate for each trajectory point.
   std::vector<double> steer_rate_arr(output.size(), 0.0);