Fix Code Style On pid_error (#2329)

automated style fixes Co-authored-by: Squid5678 <[email protected]>
RoboJackets · Jan 29, 2025 · 75562a0 · 75562a0
1 parent b7ed7af
commit 75562a0
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Showing 2 changed files with 9 additions and 10 deletions.
diff --git a/soccer/src/soccer/control/motion_control.cpp b/soccer/src/soccer/control/motion_control.cpp
@@ -7,11 +7,9 @@
 #include <rj_geometry/util.hpp>
 #include <rj_utils/logging.hpp>
 
-
 #include "game_state.hpp"
 #include "planning/instant.hpp"
 
-
 namespace control {
 
 using planning::RobotInstant;
@@ -77,10 +75,12 @@ MotionControl::MotionControl(int shell_id, rclcpp::Node* node)
             play_state_ = rj_convert::convert_from_ros(*play_state_msg).state();
         });
 
-    error_x_pub_ = node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_x", 10);
-    error_y_pub_ = node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_y", 10);
-    error_heading_pub_ = node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_heading", 10);
-
+    error_x_pub_ =
+        node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_x", 10);
+    error_y_pub_ =
+        node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_y", 10);
+    error_heading_pub_ =
+        node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_heading", 10);
 }
 
 void MotionControl::run(const RobotState& state, const planning::Trajectory& trajectory,
@@ -144,7 +144,6 @@ void MotionControl::run(const RobotState& state, const planning::Trajectory& tra
         std_msgs::msg::Float64 error_heading_msg;
         error_heading_msg.data = error.heading();
         error_heading_pub_->publish(error_heading_msg);
-
 
         correction = Twist(position_x_controller_.run(static_cast<float>(error.position().x())),
                            position_y_controller_.run(static_cast<float>(error.position().y())),

diff --git a/soccer/src/soccer/control/motion_control.hpp b/soccer/src/soccer/control/motion_control.hpp
@@ -1,20 +1,20 @@
 #pragma once
 
+#include <rclcpp/rclcpp.hpp>
+
 #include <context.hpp>
 #include <rj_common/time.hpp>
 #include <rj_constants/topic_names.hpp>
 #include <rj_geometry/point.hpp>
 #include <rj_param_utils/param.hpp>
+#include <std_msgs/msg/float64.hpp>
 
 #include "control/motion_setpoint.hpp"
 #include "game_state.hpp"
 #include "ros_debug_drawer.hpp"
 
 #include <rc-fshare/pid.hpp>
 
-#include <rclcpp/rclcpp.hpp>
-#include <std_msgs/msg/float64.hpp>
-
 namespace control {
 
 DECLARE_FLOAT64(params::kMotionControlParamModule, max_acceleration);