[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
humanoid-path-planner · Nov 26, 2024 · 80d80b7 · 80d80b7
1 parent f31c378
commit 80d80b7
Show file tree

Hide file tree

Showing 3 changed files with 62 additions and 57 deletions.
diff --git a/include/hpp/core/path-planner/search-in-roadmap.hh b/include/hpp/core/path-planner/search-in-roadmap.hh
@@ -33,55 +33,51 @@
 #include <hpp/core/path-planner.hh>
 #include <hpp/core/path-planning-failed.hh>
 
-namespace hpp{
+namespace hpp {
 namespace core {
-namespace pathPlanner{
-  HPP_PREDEF_CLASS(SearchInRoadmap);
-  typedef shared_ptr<SearchInRoadmap> SearchInRoadmapPtr_t;
-  /// \addtogroup path_planning
-  /// \{
+namespace pathPlanner {
+HPP_PREDEF_CLASS(SearchInRoadmap);
+typedef shared_ptr<SearchInRoadmap> SearchInRoadmapPtr_t;
+/// \addtogroup path_planning
+/// \{
 
-  /// Search in the roadmap without modifying it and without trying a direct connection priorly
-  ///
-  /// This planner is especially useful in some applications where the roadmap is constructed
-  /// externally like in coverage planning. This planner will return a path if one exists in the
-  /// roadmap or throw otherwise.
-  ///
-  /// \note One shortcoming of this planner (as all other planners), if the initial configuration
-  /// is the same as a goal configuration, the planner will return a path of length 0. This is not
-  /// desirable in coverage planning applications.
-  class SearchInRoadmap : public PathPlanner {
-  public:
-    static SearchInRoadmapPtr_t createWithRoadmap(const ProblemConstPtr_t& problem,
-						  const RoadmapPtr_t& roadmap)
-    {
-      return SearchInRoadmapPtr_t(new SearchInRoadmap(problem, roadmap));
-    }
-    /// This methods does nothing
-    virtual void tryConnectInitAndGoals()
-    {
-    }
-    /// This methods does nothing
-    virtual void oneStep()
-    {
-      throw path_planning_failed("SearchInRoadmap: no goal configuration in the connected component"
-				 "of initial configuration.");
-    }
-  protected:
-    SearchInRoadmap(const ProblemConstPtr_t& problem) : core::PathPlanner(problem)
-    {
-    }
-    SearchInRoadmap(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) :
-      PathPlanner(problem, roadmap)
-    {
-    }
-  }; /// class SearchInRoadmap
+/// Search in the roadmap without modifying it and without trying a direct
+/// connection priorly
+///
+/// This planner is especially useful in some applications where the roadmap is
+/// constructed externally like in coverage planning. This planner will return a
+/// path if one exists in the roadmap or throw otherwise.
+///
+/// \note One shortcoming of this planner (as all other planners), if the
+/// initial configuration is the same as a goal configuration, the planner will
+/// return a path of length 0. This is not desirable in coverage planning
+/// applications.
+class SearchInRoadmap : public PathPlanner {
+ public:
+  static SearchInRoadmapPtr_t createWithRoadmap(
+      const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) {
+    return SearchInRoadmapPtr_t(new SearchInRoadmap(problem, roadmap));
+  }
+  /// This methods does nothing
+  virtual void tryConnectInitAndGoals() {}
+  /// This methods does nothing
+  virtual void oneStep() {
+    throw path_planning_failed(
+        "SearchInRoadmap: no goal configuration in the connected component"
+        "of initial configuration.");
+  }
+
+ protected:
+  SearchInRoadmap(const ProblemConstPtr_t& problem)
+      : core::PathPlanner(problem) {}
+  SearchInRoadmap(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap)
+      : PathPlanner(problem, roadmap) {}
+};  /// class SearchInRoadmap
 
 /// \}
-
-}
-}
-}
-
-#endif // HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
 
+}  // namespace pathPlanner
+}  // namespace core
+}  // namespace hpp
+
+#endif  // HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
@@ -211,7 +211,8 @@ ProblemSolver::ProblemSolver()
   pathPlanners.add("BiRRTPlanner", BiRRTPlanner::createWithRoadmap);
   pathPlanners.add("kPRM*", pathPlanner::kPrmStar::createWithRoadmap);
   pathPlanners.add("BiRRT*", pathPlanner::BiRrtStar::createWithRoadmap);
-  pathPlanners.add("SearchInRoadmap", hpp::core::pathPlanner::SearchInRoadmap::createWithRoadmap);
+  pathPlanners.add("SearchInRoadmap",
+                   hpp::core::pathPlanner::SearchInRoadmap::createWithRoadmap);
 
   configurationShooters.add("Uniform", createUniformConfigShooter);
   configurationShooters.add("Gaussian", createGaussianConfigShooter);

diff --git a/tests/roadmap-1.cc b/tests/roadmap-1.cc
@@ -32,12 +32,12 @@
 #include <hpp/core/nearest-neighbor.hh>
 #include <hpp/core/node.hh>
 #include <hpp/core/parser/roadmap.hh>
+#include <hpp/core/path-planner/search-in-roadmap.hh>
 #include <hpp/core/path-vector.hh>
 #include <hpp/core/problem.hh>
 #include <hpp/core/roadmap.hh>
 #include <hpp/core/steering-method/straight.hh>
 #include <hpp/core/weighed-distance.hh>
-#include <hpp/core/path-planner/search-in-roadmap.hh>
 #include <hpp/pinocchio/configuration.hh>
 #include <hpp/pinocchio/device.hh>
 #include <hpp/pinocchio/joint.hh>
@@ -289,26 +289,34 @@ BOOST_AUTO_TEST_CASE(Roadmap1) {
 
   r->resetGoalNodes();
   // Check pathPlanner::SearchInRoadmap
-  q[0] = 0; q[1] = 0;
+  q[0] = 0;
+  q[1] = 0;
   p->initConfig(q);
-  q[0] = 2.5; q[1] = 2.9;
+  q[0] = 2.5;
+  q[1] = 2.9;
   p->addGoalConfig(q);
-  pathPlanner::SearchInRoadmapPtr_t planner(pathPlanner::SearchInRoadmap::createWithRoadmap(p, r));
+  pathPlanner::SearchInRoadmapPtr_t planner(
+      pathPlanner::SearchInRoadmap::createWithRoadmap(p, r));
   PathVectorPtr_t pv(planner->solve());
   BOOST_CHECK(pv);
   BOOST_CHECK(pv->numberPaths() == 4);
-  q[0] = 0; q[1] = 0;
+  q[0] = 0;
+  q[1] = 0;
   BOOST_CHECK(pv->pathAtRank(0)->initial() == q);
-  q[0] = 1; q[1] = 0;
+  q[0] = 1;
+  q[1] = 0;
   BOOST_CHECK(pv->pathAtRank(0)->end() == q);
   BOOST_CHECK(pv->pathAtRank(1)->initial() == q);
-  q[0] = .5; q[1] = .9;
+  q[0] = .5;
+  q[1] = .9;
   BOOST_CHECK(pv->pathAtRank(1)->end() == q);
   BOOST_CHECK(pv->pathAtRank(2)->initial() == q);
-  q[0] = 1.5; q[1] = 2.9;
+  q[0] = 1.5;
+  q[1] = 2.9;
   BOOST_CHECK(pv->pathAtRank(2)->end() == q);
   BOOST_CHECK(pv->pathAtRank(3)->initial() == q);
-  q[0] = 2.5; q[1] = 2.9;
+  q[0] = 2.5;
+  q[1] = 2.9;
   BOOST_CHECK(pv->pathAtRank(3)->end() == q);
 
   // Check that memory if well deallocated.