applied clang format to motion_computation

motion_computation/include/motion_computation/motion_computation_node.hpp

@@ -16,7 +16,6 @@
 #define MOTION_COMPUTATION__MOTION_COMPUTATION_NODE_HPP_
 
 #include <lanelet2_extension/projection/local_frame_projector.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <functional>
 #include <vector>
@@ -29,6 +28,7 @@
 #include <carma_perception_msgs/msg/external_object_list.hpp>
 #include <carma_v2x_msgs/msg/mobility_path.hpp>
 #include <std_msgs/msg/string.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace motion_computation
 {

motion_computation/include/motion_computation/motion_computation_worker.hpp

@@ -18,7 +18,6 @@
 #include <gtest/gtest_prod.h>
 #include <lanelet2_extension/projection/local_frame_projector.h>
 #include <tf2/LinearMath/Transform.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <functional>
 #include <memory>
@@ -36,6 +35,7 @@
 #include <carma_v2x_msgs/msg/mobility_path.hpp>
 #include <carma_v2x_msgs/msg/psm.hpp>
 #include <std_msgs/msg/string.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace motion_computation
 {

motion_computation/src/bsm_to_external_object_convertor.cpp

@@ -201,7 +201,8 @@ void convert(
 
   out_msg.predictions = impl::predicted_poses_to_predicted_state(
     predicted_poses, out_msg.velocity.twist.linear.x, rclcpp::Time(out_msg.header.stamp),
-    rclcpp::Duration::from_nanoseconds(pred_step_size * 1e9), map_frame_id, out_msg.confidence, out_msg.confidence);
+    rclcpp::Duration::from_nanoseconds(pred_step_size * 1e9), map_frame_id, out_msg.confidence,
+    out_msg.confidence);
   out_msg.presence_vector |= carma_perception_msgs::msg::ExternalObject::PREDICTION_PRESENCE_VECTOR;
 }
 

motion_computation/src/main.cpp

@@ -13,10 +13,12 @@
 // limitations under the License.
 
 #include <memory>
+
 #include "motion_computation/motion_computation_node.hpp"
 #include <rclcpp/rclcpp.hpp>
 
-int main(int argc, char **argv) {
+int main(int argc, char ** argv)
+{
   rclcpp::init(argc, argv);
 
   auto node = std::make_shared<motion_computation::MotionComputationNode>(rclcpp::NodeOptions());

motion_computation/src/mobility_path_to_external_object.cpp

@@ -93,7 +93,8 @@ void convert(
   double message_offset_y = 0.0;
   double message_offset_z = 0.0;
 
-  rclcpp::Duration mobility_path_point_delta_t = rclcpp::Duration::from_nanoseconds(mobility_path_points_timestep_size * 1e9);
+  rclcpp::Duration mobility_path_point_delta_t =
+    rclcpp::Duration::from_nanoseconds(mobility_path_points_timestep_size * 1e9);
 
   // Note the usage of current vs previous in this loop can be a bit confusing
   // The intended behavior is we our always storing our prev_point but using

motion_computation/src/motion_computation_worker.cpp

@@ -143,8 +143,7 @@ void MotionComputationWorker::predictionLogic(
 void MotionComputationWorker::georeferenceCallback(const std_msgs::msg::String::UniquePtr msg)
 {
   // Build projector from proj string
-  if (georeference_ != msg->data)
-  {
+  if (georeference_ != msg->data) {
     georeference_ = msg->data;
     map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(msg->data.c_str());
 
@@ -158,9 +157,9 @@ void MotionComputationWorker::georeferenceCallback(const std_msgs::msg::String::
 
     RCLCPP_DEBUG_STREAM(
       logger_->get_logger(), "Extracted NED in Map Rotation (x,y,z,w) : ( "
-                              << ned_in_map_rotation_.getX() << ", " << ned_in_map_rotation_.getY()
-                              << ", " << ned_in_map_rotation_.getZ() << ", "
-                              << ned_in_map_rotation_.getW());
+                               << ned_in_map_rotation_.getX() << ", " << ned_in_map_rotation_.getY()
+                               << ", " << ned_in_map_rotation_.getZ() << ", "
+                               << ned_in_map_rotation_.getW());
   }
 }
 

motion_computation/src/psm_to_external_object_convertor.cpp

@@ -14,7 +14,6 @@
 
 #include <lanelet2_extension/regulatory_elements/CarmaTrafficSignal.h>
 #include <tf2/LinearMath/Transform.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <wgs84_utils/wgs84_utils.h>
 
 #include <algorithm>
@@ -30,6 +29,7 @@
 
 #include <carma_perception_msgs/msg/external_object.hpp>
 #include <carma_v2x_msgs/msg/psm.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace motion_computation
 {
@@ -227,7 +227,8 @@ void convert(
 
   out_msg.predictions = impl::predicted_poses_to_predicted_state(
     predicted_poses, out_msg.velocity.twist.linear.x, rclcpp::Time(out_msg.header.stamp),
-    rclcpp::Duration::from_nanoseconds(pred_step_size * 1e9), map_frame_id, out_msg.confidence, out_msg.confidence);
+    rclcpp::Duration::from_nanoseconds(pred_step_size * 1e9), map_frame_id, out_msg.confidence,
+    out_msg.confidence);
   out_msg.presence_vector |= carma_perception_msgs::msg::ExternalObject::PREDICTION_PRESENCE_VECTOR;
 }
 

motion_computation/test/MotionComputationTest.cpp

@@ -202,7 +202,8 @@ TEST(MotionComputationWorker, ComposePredictedState)
   prev = {0, 0, 0};
 
   res = conversion::impl::composePredictedState(
-    curr, prev, time_stamp, time_stamp + rclcpp::Duration::from_nanoseconds(100000000), std::get<1>(res));
+    curr, prev, time_stamp, time_stamp + rclcpp::Duration::from_nanoseconds(100000000),
+    std::get<1>(res));
   test_result = std::get<0>(res);
 
   ASSERT_NEAR(test_result.predicted_position.position.x, 0.0, 0.0001);