fix formating

Signed-off-by: Sokolov Denis <[email protected]> Signed-off-by: Denis Sokolov <[email protected]>
ros-navigation · Apr 10, 2024 · 61e4620 · 61e4620
1 parent ded80a6
commit 61e4620
Showing 1 changed file with 21 additions and 21 deletions.
diff --git a/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp b/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp
@@ -29,13 +29,13 @@ void VelocityDeadbandCritic::initialize()
   getParam(deadband_velocities, "deadband_velocities", std::vector<double>{0.0, 0.0, 0.0});
   std::transform(
     deadband_velocities.begin(), deadband_velocities.end(), deadband_velocities_.begin(),
-    [](double d) { return static_cast<float>(d); });
+    [](double d) {return static_cast<float>(d);});
 
   RCLCPP_INFO_STREAM(
     logger_, "VelocityDeadbandCritic instantiated with "
-               << power_ << " power, " << weight_ << " weight, deadband_velocity ["
-               << deadband_velocities_.at(0) << "," << deadband_velocities_.at(1) << ","
-               << deadband_velocities_.at(2) << "]");
+      << power_ << " power, " << weight_ << " weight, deadband_velocity ["
+      << deadband_velocities_.at(0) << "," << deadband_velocities_.at(1) << ","
+      << deadband_velocities_.at(2) << "]");
 }
 
 void VelocityDeadbandCritic::score(CriticData & data)
@@ -58,19 +58,19 @@ void VelocityDeadbandCritic::score(CriticData & data)
             xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) +
             xt::maximum(fabs(deadband_velocities_.at(1)) - xt::fabs(vy), 0) +
             xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0)) *
-            data.model_dt,
+          data.model_dt,
           {1}, immediate) *
-          weight_,
+        weight_,
         power_);
     } else {
       data.costs += xt::sum(
-                      (std::move(
-                        xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) +
-                        xt::maximum(fabs(deadband_velocities_.at(1)) - xt::fabs(vy), 0) +
-                        xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) *
-                        data.model_dt,
-                      {1}, immediate) *
-                    weight_;
+        (std::move(
+          xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) +
+          xt::maximum(fabs(deadband_velocities_.at(1)) - xt::fabs(vy), 0) +
+          xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) *
+        data.model_dt,
+        {1}, immediate) *
+        weight_;
     }
     return;
   }
@@ -81,18 +81,18 @@ void VelocityDeadbandCritic::score(CriticData & data)
         std::move(
           xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) +
           xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0)) *
-          data.model_dt,
+        data.model_dt,
         {1}, immediate) *
-        weight_,
+      weight_,
       power_);
   } else {
     data.costs += xt::sum(
-                    (std::move(
-                      xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) +
-                      xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) *
-                      data.model_dt,
-                    {1}, immediate) *
-                  weight_;
+      (std::move(
+        xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) +
+        xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) *
+      data.model_dt,
+      {1}, immediate) *
+      weight_;
   }
   return;
 }