Run uncrustify on the entire Pilot.Auto codebase (#151)

* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp

@@ -121,7 +121,8 @@ class Simulator : public rclcpp::Node
   std::shared_ptr<rclcpp::Time> prev_update_time_ptr_;  //!< @brief previously updated time
 
   /* vehicle model */
-  enum class VehicleModelType {
+  enum class VehicleModelType
+  {
     IDEAL_TWIST = 0,
     IDEAL_STEER = 1,
     DELAY_TWIST = 2,
@@ -137,15 +138,15 @@ class Simulator : public rclcpp::Node
   /* to generate measurement noise */
   std::shared_ptr<std::mt19937> rand_engine_ptr_;  //!< @brief random engine for measurement noise
   std::shared_ptr<std::normal_distribution<>>
-    pos_norm_dist_ptr_;  //!< @brief Gaussian noise for position
+  pos_norm_dist_ptr_;    //!< @brief Gaussian noise for position
   std::shared_ptr<std::normal_distribution<>>
-    vel_norm_dist_ptr_;  //!< @brief Gaussian noise for velocity
+  vel_norm_dist_ptr_;    //!< @brief Gaussian noise for velocity
   std::shared_ptr<std::normal_distribution<>>
-    rpy_norm_dist_ptr_;  //!< @brief Gaussian noise for roll-pitch-yaw
+  rpy_norm_dist_ptr_;    //!< @brief Gaussian noise for roll-pitch-yaw
   std::shared_ptr<std::normal_distribution<>>
-    angvel_norm_dist_ptr_;  //!< @brief Gaussian noise for angular velocity
+  angvel_norm_dist_ptr_;    //!< @brief Gaussian noise for angular velocity
   std::shared_ptr<std::normal_distribution<>>
-    steer_norm_dist_ptr_;  //!< @brief Gaussian noise for steering angle
+  steer_norm_dist_ptr_;    //!< @brief Gaussian noise for steering angle
 
   /**
    * @brief set current_vehicle_cmd_ptr_ with received message
@@ -165,7 +166,8 @@ class Simulator : public rclcpp::Node
   /**
    * @brief set initial pose for simulation with received message
    */
-  void callbackInitialPoseWithCov(const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr msg);
+  void callbackInitialPoseWithCov(
+    const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr msg);
 
   /**
    * @brief set initial pose with received message
@@ -202,7 +204,9 @@ class Simulator : public rclcpp::Node
    * @param [in] pose initial position and orientation
    * @param [in] twist initial velocity and angular velocity
    */
-  void setInitialState(const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist & twist);
+  void setInitialState(
+    const geometry_msgs::msg::Pose & pose,
+    const geometry_msgs::msg::Twist & twist);
 
   /**
    * @brief set initial state of simulated vehicle with pose transformation based on frame_id
@@ -218,14 +222,17 @@ class Simulator : public rclcpp::Node
    * @param [in] twist initial velocity and angular velocity
    */
   void setInitialStateWithPoseTransform(
-    const geometry_msgs::msg::PoseWithCovarianceStamped & pose, const geometry_msgs::msg::Twist & twist);
+    const geometry_msgs::msg::PoseWithCovarianceStamped & pose,
+    const geometry_msgs::msg::Twist & twist);
 
   /**
    * @brief publish pose and twist
    * @param [in] pose pose to be published
    * @param [in] twist twist to be published
    */
-  void publishPoseTwist(const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist & twist);
+  void publishPoseTwist(
+    const geometry_msgs::msg::Pose & pose,
+    const geometry_msgs::msg::Twist & twist);
 
   /**
    * @brief publish tf

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_constant_acceleration.hpp

@@ -50,14 +50,16 @@ class SimModelConstantAccelTwist : public SimModelInterface
   ~SimModelConstantAccelTwist() = default;
 
 private:
-  enum IDX {
+  enum IDX
+  {
     X = 0,
     Y,
     YAW,
     VX,
     WZ,
   };
-  enum IDX_U {
+  enum IDX_U
+  {
     VX_DES = 0,
     WZ_DES,
   };
@@ -111,4 +113,4 @@ class SimModelConstantAccelTwist : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif
+#endif

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal.hpp

@@ -47,12 +47,14 @@ class SimModelIdealTwist : public SimModelInterface
   ~SimModelIdealTwist() = default;
 
 private:
-  enum IDX {
+  enum IDX
+  {
     X = 0,
     Y,
     YAW,
   };
-  enum IDX_U {
+  enum IDX_U
+  {
     VX_DES = 0,
     WZ_DES,
   };
@@ -120,12 +122,14 @@ class SimModelIdealSteer : public SimModelInterface
   ~SimModelIdealSteer() = default;
 
 private:
-  enum IDX {
+  enum IDX
+  {
     X = 0,
     Y,
     YAW,
   };
-  enum IDX_U {
+  enum IDX_U
+  {
     VX_DES = 0,
     STEER_DES,
   };
@@ -195,13 +199,15 @@ class SimModelIdealAccel : public SimModelInterface
   ~SimModelIdealAccel() = default;
 
 private:
-  enum IDX {
+  enum IDX
+  {
     X = 0,
     Y,
     YAW,
     VX,
   };
-  enum IDX_U {
+  enum IDX_U
+  {
     AX_DES = 0,
     STEER_DES,
   };
@@ -252,4 +258,4 @@ class SimModelIdealAccel : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif
+#endif

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_time_delay.hpp

@@ -64,14 +64,16 @@ class SimModelTimeDelayTwist : public SimModelInterface
 private:
   const double MIN_TIME_CONSTANT;  //!< @brief minimum time constant
 
-  enum IDX {
+  enum IDX
+  {
     X = 0,
     Y,
     YAW,
     VX,
     WZ,
   };
-  enum IDX_U {
+  enum IDX_U
+  {
     VX_DES = 0,
     WZ_DES,
   };
@@ -170,14 +172,16 @@ class SimModelTimeDelaySteer : public SimModelInterface
 private:
   const double MIN_TIME_CONSTANT;  //!< @brief minimum time constant
 
-  enum IDX {
+  enum IDX
+  {
     X = 0,
     Y,
     YAW,
     VX,
     STEER,
   };
-  enum IDX_U {
+  enum IDX_U
+  {
     VX_DES = 0,
     STEER_DES,
   };
@@ -276,15 +280,17 @@ class SimModelTimeDelaySteerAccel : public SimModelInterface
 private:
   const double MIN_TIME_CONSTANT;  //!< @brief minimum time constant
 
-  enum IDX {
+  enum IDX
+  {
     X = 0,
     Y,
     YAW,
     VX,
     STEER,
     ACCX,
   };
-  enum IDX_U {
+  enum IDX_U
+  {
     ACCX_DES = 0,
     STEER_DES,
     DRIVE_SHIFT,
@@ -354,4 +360,4 @@ class SimModelTimeDelaySteerAccel : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif
+#endif

simulator/simple_planning_simulator/src/simple_planning_simulator_core.cpp

@@ -282,7 +282,8 @@ void Simulator::timerCallbackSimulation()
     if (
       cmd == autoware_vehicle_msgs::msg::TurnSignal::LEFT ||
       cmd == autoware_vehicle_msgs::msg::TurnSignal::RIGHT ||
-      cmd == autoware_vehicle_msgs::msg::TurnSignal::HAZARD) {
+      cmd == autoware_vehicle_msgs::msg::TurnSignal::HAZARD)
+    {
       turn_signal_msg.data = cmd;
     }
   }
@@ -291,9 +292,9 @@ void Simulator::timerCallbackSimulation()
   autoware_vehicle_msgs::msg::ShiftStamped shift_msg;
   shift_msg.header.frame_id = simulation_frame_id_;
   shift_msg.header.stamp = get_clock()->now();
-  shift_msg.shift.data = current_twist_.linear.x >= 0.0
-                           ? autoware_vehicle_msgs::msg::Shift::DRIVE
-                           : autoware_vehicle_msgs::msg::Shift::REVERSE;
+  shift_msg.shift.data = current_twist_.linear.x >= 0.0 ?
+    autoware_vehicle_msgs::msg::Shift::DRIVE :
+    autoware_vehicle_msgs::msg::Shift::REVERSE;
   pub_shift_->publish(shift_msg);
 
   /* publish control mode */
@@ -307,7 +308,8 @@ void Simulator::callbackVehicleCmd(
 
   if (
     vehicle_model_type_ == VehicleModelType::IDEAL_STEER ||
-    vehicle_model_type_ == VehicleModelType::DELAY_STEER) {
+    vehicle_model_type_ == VehicleModelType::DELAY_STEER)
+  {
     Eigen::VectorXd input(2);
     input << msg->control.velocity, msg->control.steering_angle;
     vehicle_model_ptr_->setInput(input);
@@ -452,10 +454,11 @@ double Simulator::getPosZFromTrajectory(const double x, const double y)
         found = true;
       }
     }
-    if (found)
+    if (found) {
       return current_trajectory_ptr_->points.at(index).pose.position.z;
-    else
+    } else {
       return 0;
+    }
   } else {
     return 0.0;
   }

simulator/simple_planning_simulator/src/simple_planning_simulator_node.cpp

@@ -23,4 +23,4 @@ int main(int argc, char ** argv)
   rclcpp::shutdown();
 
   return 0;
-};
+}

simulator/simple_planning_simulator/src/vehicle_model/sim_model_constant_acceleration.cpp

@@ -1,4 +1,3 @@
-
 /*
  * Copyright 2018-2019 Autoware Foundation. All rights reserved.
  *
@@ -23,15 +22,15 @@ SimModelConstantAccelTwist::SimModelConstantAccelTwist(
   vx_lim_(vx_lim),
   wz_lim_(wz_lim),
   vx_rate_(vx_rate),
-  wz_rate_(wz_rate){};
+  wz_rate_(wz_rate) {}
 
-double SimModelConstantAccelTwist::getX() { return state_(IDX::X); };
-double SimModelConstantAccelTwist::getY() { return state_(IDX::Y); };
-double SimModelConstantAccelTwist::getYaw() { return state_(IDX::YAW); };
-double SimModelConstantAccelTwist::getVx() { return state_(IDX::VX); };
-double SimModelConstantAccelTwist::getWz() { return state_(IDX::WZ); };
-double SimModelConstantAccelTwist::getSteer() { return 0.0; };
-void SimModelConstantAccelTwist::update(const double & dt) { updateRungeKutta(dt, input_); }
+double SimModelConstantAccelTwist::getX() {return state_(IDX::X);}
+double SimModelConstantAccelTwist::getY() {return state_(IDX::Y);}
+double SimModelConstantAccelTwist::getYaw() {return state_(IDX::YAW);}
+double SimModelConstantAccelTwist::getVx() {return state_(IDX::VX);}
+double SimModelConstantAccelTwist::getWz() {return state_(IDX::WZ);}
+double SimModelConstantAccelTwist::getSteer() {return 0.0;}
+void SimModelConstantAccelTwist::update(const double & dt) {updateRungeKutta(dt, input_);}
 Eigen::VectorXd SimModelConstantAccelTwist::calcModel(
   const Eigen::VectorXd & state, const Eigen::VectorXd & input)
 {
@@ -62,4 +61,4 @@ Eigen::VectorXd SimModelConstantAccelTwist::calcModel(
   d_state(IDX::WZ) = wz_rate;
 
   return d_state;
-};
+}