ci(pre-commit): autofix

autowarefoundation · Aug 19, 2022 · a93a2c6 · a93a2c6
1 parent 9b91154
commit a93a2c6
Showing 1 changed file with 25 additions and 25 deletions.
diff --git a/planning/motion_velocity_smoother/src/trajectory_utils.cpp b/planning/motion_velocity_smoother/src/trajectory_utils.cpp
@@ -194,36 +194,36 @@ std::vector<double> calcTrajectoryIntervalDistance(const TrajectoryPoints & traj
 std::vector<double> calcTrajectoryCurvatureFrom3Points(
   const TrajectoryPoints & trajectory, size_t idx_dist)
 {
-    using tier4_autoware_utils::calcCurvature;
-    using tier4_autoware_utils::getPoint;
+  using tier4_autoware_utils::calcCurvature;
+  using tier4_autoware_utils::getPoint;
 
-    if (trajectory.size() < 3) {
-        const std::vector<double> k_arr(trajectory.size(), 0.0);
-        return k_arr;
-    }
+  if (trajectory.size() < 3) {
+    const std::vector<double> k_arr(trajectory.size(), 0.0);
+    return k_arr;
+  }
 
-    // if the idx size is not enough, change the idx_dist
-    const auto max_idx_dist = static_cast<size_t>(std::floor((trajectory.size() - 1) / 2.0));
-    idx_dist = std::max(1ul, std::min(idx_dist, max_idx_dist));
+  // if the idx size is not enough, change the idx_dist
+  const auto max_idx_dist = static_cast<size_t>(std::floor((trajectory.size() - 1) / 2.0));
+  idx_dist = std::max(1ul, std::min(idx_dist, max_idx_dist));
 
-    if (idx_dist < 1) {
-        throw std::logic_error("idx_dist less than 1 is not expected");
-    }
+  if (idx_dist < 1) {
+    throw std::logic_error("idx_dist less than 1 is not expected");
+  }
 
-    // calculate curvature by circle fitting from three points
-    std::vector<double> k_arr;
-    //  for first point curvature = 0;
-    k_arr.push_back(0.0);
-    for (size_t i = 1; i + 1 < trajectory.size(); i++) {
-        const auto p0 = getPoint(trajectory.at(i - std::min(idx_dist, i)));
-        const auto p1 = getPoint(trajectory.at(i));
-        const auto p2 = getPoint(trajectory.at(i + std::min(idx_dist, trajectory.size() - 1 - i)));
-        k_arr.push_back(calcCurvature(p0, p1, p2));
-    }
-    // for last point curvature = 0;
-    k_arr.push_back(0.0);
+  // calculate curvature by circle fitting from three points
+  std::vector<double> k_arr;
+  //  for first point curvature = 0;
+  k_arr.push_back(0.0);
+  for (size_t i = 1; i + 1 < trajectory.size(); i++) {
+    const auto p0 = getPoint(trajectory.at(i - std::min(idx_dist, i)));
+    const auto p1 = getPoint(trajectory.at(i));
+    const auto p2 = getPoint(trajectory.at(i + std::min(idx_dist, trajectory.size() - 1 - i)));
+    k_arr.push_back(calcCurvature(p0, p1, p2));
+  }
+  // for last point curvature = 0;
+  k_arr.push_back(0.0);
 
-    return k_arr;
+  return k_arr;
 }
 
 void setZeroVelocity(TrajectoryPoints & trajectory)