pre-commit fixes

ros-controls · Jul 11, 2024 · e6e3374 · e6e3374
1 parent bcbac7a
commit e6e3374
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Showing 4 changed files with 28 additions and 19 deletions.
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
@@ -56,10 +56,10 @@ tl::expected<void, std::string> command_interface_type_combinations(
   }
 
   if (
-      rsl::contains<std::vector<std::string>>(interface_types, "effort") &&
-      !(interface_types.size() == 1 || (interface_types.size() == 2 &&
-        rsl::contains<std::vector<std::string>>(interface_types, "position")))
-     )
+    rsl::contains<std::vector<std::string>>(interface_types, "effort") &&
+    !(interface_types.size() == 1 ||
+      (interface_types.size() == 2 &&
+       rsl::contains<std::vector<std::string>>(interface_types, "position"))))
   {
     return tl::make_unexpected(
       "'effort' command interface has to be used alone or with a 'position' interface");

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -786,7 +786,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
 
   // effort only or effort and position command interfaces require position and velocity state
   if (
-    has_effort_command_interface_  &&
+    has_effort_command_interface_ &&
     (params_.command_interfaces.size() == 1 ||
      (params_.command_interfaces.size() == 2 && has_position_command_interface_)) &&
     (!has_velocity_state_interface_ || !has_position_state_interface_))
@@ -1509,8 +1509,9 @@ bool JointTrajectoryController::validate_trajectory_msg(
     if (!has_effort_command_interface_ && !points[i].effort.empty())
     {
       RCLCPP_ERROR(
-        get_node()->get_logger(), "Trajectories with effort fields are only supported for "
-          "controllers using the 'effort' command interface.");
+        get_node()->get_logger(),
+        "Trajectories with effort fields are only supported for "
+        "controllers using the 'effort' command interface.");
       return false;
     }
   }

diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -658,9 +658,11 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun
     {{0.3, 0.4, 0.6}}, {{1.7, 1.8, 1.9}}, {{2.10, 2.11, 2.12}}};
   std::vector<std::vector<double>> empty_effort;
   // *INDENT-ON*
-  bool has_effort_command_interface = std::find(command_interface_types_.begin(),
-    command_interface_types_.end(), "effort") != command_interface_types_.end();
-  publish(time_from_start, points, rclcpp::Time(), {}, {},
+  bool has_effort_command_interface =
+    std::find(command_interface_types_.begin(), command_interface_types_.end(), "effort") !=
+    command_interface_types_.end();
+  publish(
+    time_from_start, points, rclcpp::Time(), {}, {},
     has_effort_command_interface ? effort : empty_effort);
   traj_controller_->wait_for_trajectory(executor);
 
@@ -746,7 +748,7 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun
       EXPECT_NEAR(
         k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2]) + state_reference.effort[2],
         joint_eff_[2], k_p * COMMON_THRESHOLD);
-      }
+    }
   }
 
   executor.cancel();
@@ -864,7 +866,8 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound)
       EXPECT_GT(0.0, joint_eff_[2]);
       EXPECT_NEAR(
         k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2] - 2 * M_PI) +
-        state_reference.effort[2], joint_eff_[2], k_p * COMMON_THRESHOLD);
+          state_reference.effort[2],
+        joint_eff_[2], k_p * COMMON_THRESHOLD);
     }
   }
 
@@ -1434,8 +1437,9 @@ TEST_P(TrajectoryControllerTestParameterized, invalid_message)
   // Effort is not supported in trajectory message
   traj_msg = good_traj_msg;
   traj_msg.points[0].effort = {1.0, 2.0, 3.0};
-  bool has_effort_command_interface = std::find(command_interface_types_.begin(),
-    command_interface_types_.end(), "effort") != command_interface_types_.end();
+  bool has_effort_command_interface =
+    std::find(command_interface_types_.begin(), command_interface_types_.end(), "effort") !=
+    command_interface_types_.end();
   if (has_effort_command_interface)
   {
     EXPECT_TRUE(traj_controller_->validate_trajectory_msg(traj_msg));
@@ -2087,9 +2091,11 @@ TEST_P(TrajectoryControllerTestParameterized, test_goal_tolerances_fail)
     {{0.0, 0.0, 0.0}}, {{1.0, 1.0, 1.0}}, {{2.0, 2.0, 2.0}}};
   std::vector<std::vector<double>> empty_effort;
   // *INDENT-ON*
-  bool has_effort_command_interface = std::find(command_interface_types_.begin(),
-    command_interface_types_.end(), "effort") != command_interface_types_.end();
-  publish(time_from_start, points, rclcpp::Time(0, 0, RCL_STEADY_TIME), {}, points_velocities,
+  bool has_effort_command_interface =
+    std::find(command_interface_types_.begin(), command_interface_types_.end(), "effort") !=
+    command_interface_types_.end();
+  publish(
+    time_from_start, points, rclcpp::Time(0, 0, RCL_STEADY_TIME), {}, points_velocities,
     has_effort_command_interface ? points_effort : empty_effort);
   traj_controller_->wait_for_trajectory(executor);
   auto end_time = updateControllerAsync(rclcpp::Duration(4 * FIRST_POINT_TIME));
@@ -2168,7 +2174,8 @@ INSTANTIATE_TEST_SUITE_P(
   PositionEffortTrajectoryControllers, TrajectoryControllerTestParameterized,
   ::testing::Values(
     std::make_tuple(
-      std::vector<std::string>({"position", "effort"}), std::vector<std::string>({"position", "velocity"})),
+      std::vector<std::string>({"position", "effort"}),
+      std::vector<std::string>({"position", "velocity"})),
     std::make_tuple(
       std::vector<std::string>({"position", "effort"}),
       std::vector<std::string>({"position", "velocity", "acceleration"}))));

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -599,7 +599,8 @@ class TrajectoryControllerTest : public ::testing::Test
   }
 
   void expectCommandPoint(
-    std::vector<double> position, std::vector<double> velocity = {0.0, 0.0, 0.0}, std::vector<double> effort = {0.0, 0.0, 0.0})
+    std::vector<double> position, std::vector<double> velocity = {0.0, 0.0, 0.0},
+    std::vector<double> effort = {0.0, 0.0, 0.0})
   {
     // it should be holding the given point
     // i.e., active but trivial trajectory (one point only)