style(pre-commit): autofix

brkay54 · Sep 26, 2023 · 13d9b1e · 13d9b1e
1 parent bced5d0
commit 13d9b1e
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Showing 2 changed files with 11 additions and 7 deletions.
diff --git a/...itudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp b/...itudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
@@ -67,7 +67,6 @@ double getPitchByPose(const Quaternion & quaternion);
 double getPitchByTraj(
   const Trajectory & trajectory, const size_t start_idx, const double wheel_base);
 
-
 /**
  * @brief calculate vehicle pose after time delay by moving the vehicle at current velocity and
  * acceleration for delayed time

diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -975,13 +975,18 @@ PidLongitudinalController::StateAfterDelay PidLongitudinalController::predictedS
 double PidLongitudinalController::applyVelocityFeedback(const ControlData & control_data)
 {
   const double current_vel = control_data.current_motion.vel;
-  const double target_vel = control_data.interpolated_traj.points.at(control_data.target_idx).longitudinal_velocity_mps;
-
+  const double target_vel =
+    control_data.interpolated_traj.points.at(control_data.target_idx).longitudinal_velocity_mps;
 
-  const double vel_after_delay= control_data.state_after_delay.vel;
-  const bool is_under_control = m_current_operation_mode.is_autoware_control_enabled &&
-                                m_current_operation_mode.mode == OperationModeState::AUTONOMOUS;  // NOTE: Acceleration command is always positive even if the ego drives backward.
-  const double vel_sign = (control_data.shift == Shift::Forward) ? 1.0 : (control_data.shift == Shift::Reverse ? -1.0 : 0.0);
+  const double vel_after_delay = control_data.state_after_delay.vel;
+  const bool is_under_control =
+    m_current_operation_mode.is_autoware_control_enabled &&
+    m_current_operation_mode.mode ==
+      OperationModeState::AUTONOMOUS;  // NOTE: Acceleration command is always positive even if the
+                                       // ego drives backward.
+  const double vel_sign = (control_data.shift == Shift::Forward)
+                            ? 1.0
+                            : (control_data.shift == Shift::Reverse ? -1.0 : 0.0);
   const double diff_vel = (target_vel - vel_after_delay) * vel_sign;
 
   const bool enable_integration =