From e27bc55bed6307c779dfbd99a6be374c7afeb1a4 Mon Sep 17 00:00:00 2001 From: Ayush1285 Date: Sat, 25 May 2024 19:34:38 +0530 Subject: [PATCH] Fixed lint errors Signed-off-by: Ayush1285 --- .../include/nav2_mppi_controller/motion_models.hpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp index 048b91ea20..0582c0731a 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp @@ -92,18 +92,18 @@ class MotionModel float wz_last = state.wz(0, 0); for (unsigned int i = 0; i != state.vx.shape(0); i++) { for (unsigned int j = 1; j != state.vx.shape(1); j++) { - float& cvx_curr = state.cvx(i, j - 1); + float & cvx_curr = state.cvx(i, j - 1); cvx_curr = std::clamp(cvx_curr, vx_last + min_delta_vx, vx_last + max_delta_vx); state.vx(i, j) = cvx_curr; - vx_last = cvx_curr; + vx_last = cvx_curr; - float& cwz_curr = state.cwz(i, j - 1); + float & cwz_curr = state.cwz(i, j - 1); cwz_curr = std::clamp(cwz_curr, wz_last - max_delta_wz, wz_last + max_delta_wz); state.wz(i, j) = cwz_curr; wz_last = cwz_curr; if (is_holo) { - float& cvy_curr = state.cvy(i, j - 1); + float & cvy_curr = state.cvy(i, j - 1); cvy_curr = std::clamp(cvy_curr, vy_last - max_delta_vy, vy_last + max_delta_vy); state.vy(i, j) = cvy_curr; vy_last = cvy_curr; @@ -126,7 +126,8 @@ class MotionModel protected: float model_dt_{0.0}; - models::ControlConstraints control_constraints_{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; + models::ControlConstraints control_constraints_{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, + 0.0f}; }; /**