ci(pre-commit): autofix

autowarefoundation · Apr 18, 2022 · 54ebb07 · 54ebb07
1 parent c7dd0f2
commit 54ebb07
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Showing 3 changed files with 18 additions and 15 deletions.
diff --git a/sensing/gnss_poser/include/gnss_poser/convert.hpp b/sensing/gnss_poser/include/gnss_poser/convert.hpp
@@ -17,6 +17,7 @@
 #include "gnss_poser/gnss_stat.hpp"
 
 #include <GeographicLib/Geoid.hpp>
+#include <GeographicLib/LocalCartesian.hpp>
 #include <GeographicLib/MGRS.hpp>
 #include <GeographicLib/UTMUPS.hpp>
 #include <geo_pos_conv/geo_pos_conv.hpp>
@@ -25,7 +26,6 @@
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
 
 #include <string>
-#include <GeographicLib/LocalCartesian.hpp>
 namespace gnss_poser
 {
 enum class MGRSPrecision {
@@ -58,7 +58,8 @@ double EllipsoidHeight2OrthometricHeight(
 }
 
 GNSSStat NavSatFix2UTM(
-  const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg, UtmProjectorType utm_projector_type,sensor_msgs::msg::NavSatFix nav_sat_fix_origin, const rclcpp::Logger & logger)
+  const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg, UtmProjectorType utm_projector_type,
+  sensor_msgs::msg::NavSatFix nav_sat_fix_origin, const rclcpp::Logger & logger)
 {
   GNSSStat utm;
   utm.coordinate_system = CoordinateSystem::UTM;
@@ -79,8 +80,8 @@ GNSSStat NavSatFix2UTM(
     utm.longitude = nav_sat_fix_msg.longitude;
     utm.altitude = nav_sat_fix_msg.altitude;
   } catch (const GeographicLib::GeographicErr & err) {
-      RCLCPP_ERROR_STREAM(logger, "Failed to convert from LLH to UTM" << err.what());
-    }
+    RCLCPP_ERROR_STREAM(logger, "Failed to convert from LLH to UTM" << err.what());
+  }
   return utm;
 }
 
@@ -113,10 +114,11 @@ GNSSStat UTM2MGRS(
 }
 
 GNSSStat NavSatFix2MGRS(
-  const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg, UtmProjectorType & utm_projector_type, sensor_msgs::msg::NavSatFix & nav_sat_fix_origin, const MGRSPrecision & precision,
+  const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg, UtmProjectorType & utm_projector_type,
+  sensor_msgs::msg::NavSatFix & nav_sat_fix_origin, const MGRSPrecision & precision,
   const rclcpp::Logger & logger)
 {
-  const auto utm = NavSatFix2UTM(nav_sat_fix_msg, utm_projector_type,nav_sat_fix_origin, logger);
+  const auto utm = NavSatFix2UTM(nav_sat_fix_msg, utm_projector_type, nav_sat_fix_origin, logger);
   const auto mgrs = UTM2MGRS(utm, precision, logger);
   return mgrs;
 }

diff --git a/sensing/gnss_poser/include/gnss_poser/gnss_stat.hpp b/sensing/gnss_poser/include/gnss_poser/gnss_stat.hpp
@@ -22,7 +22,7 @@ enum class CoordinateSystem {
   PLANE = 2,
 };
 
-enum class UtmProjectorType{
+enum class UtmProjectorType {
   UTMUPS = 0,
   LocalCartesian = 1,
 };

diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/gnss_poser/src/gnss_poser_core.cpp
@@ -37,11 +37,12 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
 
   coordinate_system_ = static_cast<CoordinateSystem>(coordinate_system);
 
-  int utm_projector_type_ = declare_parameter("utm_projector_type",static_cast<int>(UtmProjectorType::LocalCartesian));
+  int utm_projector_type_ =
+    declare_parameter("utm_projector_type", static_cast<int>(UtmProjectorType::LocalCartesian));
   utm_projector_type = static_cast<UtmProjectorType>(utm_projector_type_);
-  nav_sat_fix_origin.latitude  = declare_parameter("latitude", 0.0);
+  nav_sat_fix_origin.latitude = declare_parameter("latitude", 0.0);
   nav_sat_fix_origin.longitude = declare_parameter("longitude", 0.0);
-  nav_sat_fix_origin.altitude  = declare_parameter("altitude", 0.0);
+  nav_sat_fix_origin.altitude = declare_parameter("altitude", 0.0);
 
   int buff_epoch = declare_parameter("buff_epoch", 1);
   position_buffer_.set_capacity(buff_epoch);
@@ -166,14 +167,14 @@ bool GNSSPoser::canGetCovariance(const sensor_msgs::msg::NavSatFix & nav_sat_fix
 GNSSStat GNSSPoser::convert(
   const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg, CoordinateSystem coordinate_system)
 {
-
-
-
   GNSSStat gnss_stat;
   if (coordinate_system == CoordinateSystem::UTM) {
-    gnss_stat = NavSatFix2UTM(nav_sat_fix_msg, utm_projector_type,nav_sat_fix_origin, this->get_logger());
+    gnss_stat =
+      NavSatFix2UTM(nav_sat_fix_msg, utm_projector_type, nav_sat_fix_origin, this->get_logger());
   } else if (coordinate_system == CoordinateSystem::MGRS) {
-    gnss_stat = NavSatFix2MGRS(nav_sat_fix_msg, utm_projector_type, nav_sat_fix_origin, MGRSPrecision::_100MICRO_METER, this->get_logger());
+    gnss_stat = NavSatFix2MGRS(
+      nav_sat_fix_msg, utm_projector_type, nav_sat_fix_origin, MGRSPrecision::_100MICRO_METER,
+      this->get_logger());
   } else if (coordinate_system == CoordinateSystem::PLANE) {
     gnss_stat = NavSatFix2PLANE(nav_sat_fix_msg, plane_zone_, this->get_logger());
   } else {