Cosmetic fixes

moveit · Mar 9, 2024 · 55c4b52 · 55c4b52
1 parent 795bde7
commit 55c4b52
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Showing 4 changed files with 8 additions and 10 deletions.
diff --git a/core/include/moveit/task_constructor/solvers/cartesian_path.h b/core/include/moveit/task_constructor/solvers/cartesian_path.h
@@ -64,13 +64,13 @@ class CartesianPath : public PlannerInterface
 	void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
 	Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
-	          const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
-	          const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
+	            const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
+	            const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
 
 	Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
-	          const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
-	          double timeout, robot_trajectory::RobotTrajectoryPtr& result,
-	          const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
+	            const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
+	            double timeout, robot_trajectory::RobotTrajectoryPtr& result,
+	            const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
 };
 }  // namespace solvers
 }  // namespace task_constructor

diff --git a/core/src/stages/generate_random_pose.cpp b/core/src/stages/generate_random_pose.cpp
@@ -90,7 +90,7 @@ void GenerateRandomPose::compute() {
 
 	const SolutionBase& s = *upstream_solutions_.pop();
 	planning_scene::PlanningScenePtr scene = s.end()->scene()->diff();
-	geometry_msgs::PoseStamped seed_pose = properties().get<geometry_msgs::PoseStamped>("pose");
+	auto seed_pose = properties().get<geometry_msgs::PoseStamped>("pose");
 	if (seed_pose.header.frame_id.empty())
 		seed_pose.header.frame_id = scene->getPlanningFrame();
 	else if (!scene->knowsFrameTransform(seed_pose.header.frame_id)) {
@@ -116,7 +116,7 @@ void GenerateRandomPose::compute() {
 	if (pose_dimension_samplers_.empty())
 		return;
 
-	geometry_msgs::PoseStamped sample_pose = seed_pose;
+	auto sample_pose = seed_pose;
 	Eigen::Isometry3d seed, sample;
 	tf2::fromMsg(seed_pose.pose, seed);
 	double elapsed_time = 0.0;

diff --git a/core/test/CMakeLists.txt b/core/test/CMakeLists.txt
@@ -38,7 +38,7 @@ if (CATKIN_ENABLE_TESTING)
 	mtc_add_gtest(test_stage.cpp)
 	mtc_add_gtest(test_container.cpp)
 	mtc_add_gmock(test_serial.cpp)
-	mtc_add_gtest(test_pruning.cpp)
+	mtc_add_gmock(test_pruning.cpp)
 	mtc_add_gtest(test_properties.cpp)
 	mtc_add_gtest(test_cost_terms.cpp)
 

diff --git a/core/test/stage_mockups.cpp b/core/test/stage_mockups.cpp
@@ -3,8 +3,6 @@
 
 #include "stage_mockups.h"
 
-#include <gtest/gtest.h>
-
 namespace moveit {
 namespace task_constructor {