automated style fixes

RoboJackets · Feb 3, 2025 · a2d55b2 · a2d55b2
1 parent e8f50a3
commit a2d55b2
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Showing 2 changed files with 17 additions and 14 deletions.
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
@@ -25,7 +25,7 @@ PenaltyPlayer::State PenaltyPlayer::update_state() {
         case SMALL_KICK: {
             if (distance_from_enemy_goal() < 3.5) {
                 return LINE_UP_2;
-            }   
+            }
             break;
         }
         case LINE_UP_2: {
@@ -54,9 +54,9 @@ PenaltyPlayer::State PenaltyPlayer::update_state() {
 
 std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) {
     switch (latest_state_) {
-        case LINE_UP: { // First, gets the robot to the ball to begin penalty dribbling-shooting
+        case LINE_UP: {  // First, gets the robot to the ball to begin penalty dribbling-shooting
             double y_pos = last_world_state_->ball.position.y();
-            y_pos -= kRobotRadius + 0.3; // added the 0.01 as a buffer space
+            y_pos -= kRobotRadius + 0.3;  // added the 0.01 as a buffer space
             rj_geometry::Point target_pt{last_world_state_->ball.position.x(), y_pos};
             rj_geometry::Point target_vel{0.0, 0.0};
             // Face ball
@@ -68,22 +68,23 @@ std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) {
                 planning::MotionCommand{"path_target", goal, planning::FaceBall{}};
             break;
         }
-        case SMALL_KICK: { //less of a kick, more of a "follow" ball closely
-            
-            rj_geometry::Point center_goal{0,9};
+        case SMALL_KICK: {  // less of a kick, more of a "follow" ball closely
+
+            rj_geometry::Point center_goal{0, 9};
             auto line_kick_cmd =
                 planning::MotionCommand{"line_kick", planning::LinearMotionInstant{center_goal}};
 
             intent.motion_command = line_kick_cmd;
             intent.shoot_mode = RobotIntent::ShootMode::KICK;
             intent.trigger_mode = RobotIntent::TriggerMode::ON_BREAK_BEAM;
-            intent.kick_speed = 0.0; 
-            // the point of making a 0 kick speed is to fake dribble since we cannot get the vaccum behavior to work
+            intent.kick_speed = 0.0;
+            // the point of making a 0 kick speed is to fake dribble since we cannot get the vaccum
+            // behavior to work
 
             return intent;
             break;
         }
-        case LINE_UP_2: { // gets the robot behind the ball with a certain distance
+        case LINE_UP_2: {  // gets the robot behind the ball with a certain distance
             double y_pos = last_world_state_->ball.position.y();
             y_pos -= kRobotRadius + 0.1;
             rj_geometry::Point target_pt{last_world_state_->ball.position.x(), y_pos};
@@ -101,7 +102,7 @@ std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) {
 
             return intent;
         }
-        case SHOOTING_START: { 
+        case SHOOTING_START: {
             target_ = calculate_best_shot();
             rj_geometry::Point ball_position = last_world_state_->ball.position;
             auto current_pos = last_world_state_->get_robot(true, robot_id_).pose.position();
@@ -166,8 +167,9 @@ rj_geometry::Point PenaltyPlayer::calculate_best_shot() const {
     // Ball location
     rj_geometry::Point ball_position = this->last_world_state_->ball.position;
 
-    // Iterates across 19 possible shot locations along the goal width in 0.05-meter increments. 
-    // For each location, it calculates the clearance distance from opponent robots and updates the best shot position if a better (less obstructed) option is found.
+    // Iterates across 19 possible shot locations along the goal width in 0.05-meter increments.
+    // For each location, it calculates the clearance distance from opponent robots and updates the
+    // best shot position if a better (less obstructed) option is found.
     rj_geometry::Point best_shot = their_goal_pos;
     double best_distance = -1.0;
     rj_geometry::Point increment(0.05, 0);

diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
@@ -57,8 +57,9 @@ class PenaltyPlayer : public Position {
     };
 
     double distance_from_enemy_goal() const {
-        return last_world_state_->get_robot(true, robot_id_).pose.position().dist_to(
-            field_dimensions_.their_goal_loc());
+        return last_world_state_->get_robot(true, robot_id_)
+            .pose.position()
+            .dist_to(field_dimensions_.their_goal_loc());
     };
 
     /**