refactored .cpp files for clang-format

uf-mil · Mar 27, 2024 · 917a463 · 917a463
1 parent 49a0620
commit 917a463
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Showing 2 changed files with 31 additions and 32 deletions.
diff --git a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
@@ -1,14 +1,13 @@
 #include <nav_msgs/Odometry.h>
+#include <tf2/LinearMath/Quaternion.h>
 #include <tf2/transform_datatypes.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_ros/transform_broadcaster.h>
 
 #include <map>
-#include <string>
-
-#include <rclcpp/rclcpp.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <rclcpp/rclcpp.hpp>
+#include <string>
 
 namespace odometry_utils
 {
@@ -49,11 +48,11 @@ class odometry_to_tf : public rclcpp::Node
   virtual void onInit()
   {
     tf_br_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
-    odom_sub = this->create_subscription<nav_msgs::msg::Odometry>("odom", 10, std::bind(&OdometryToTf::handle_odom, this, std::placeholders::_1));
-
+    odom_sub = this->create_subscription<nav_msgs::msg::Odometry>(
+        "odom", 10, std::bind(&OdometryToTf::handle_odom, this, std::placeholders::_1));
   }
 };
 
-}
-#include <rclcpp_components/register_node_macro.hpp> // Include macro to register the component
-RCLCPP_COMPONENTS_REGISTER_NODE(odometry_utils::OdometryToTf) // Register the node as a component
+}  // namespace odometry_utils
+#include <rclcpp_components/register_node_macro.hpp>           // Include macro to register the component
+RCLCPP_COMPONENTS_REGISTER_NODE(odometry_utils::OdometryToTf)  // Register the node as a component
diff --git a/mil_common/gnc/odometry_utils/src/transform_odometry.cpp b/mil_common/gnc/odometry_utils/src/transform_odometry.cpp
@@ -1,18 +1,18 @@
 #include <eigen_conversions/eigen_msg.h>
-#include <rclcpp/node.hpp>
 #include <odom_estimator/odometry.h>
 #include <odom_estimator/unscented_transform.h>
 #include <odom_estimator/util.h>
 #include <rclcpp/rclcpp.h>
-#include <tf2/transform_datatypes.h>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
 #include <tf2/convert.h>
+#include <tf2/transform_datatypes.h>
 #include <tf2_eigen/tf2_eigen.h>
-#include <nav_msgs/msg/odometry.hpp>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
 
+#include <nav_msgs/msg/odometry.hpp>
 #include <pluginlib/class_list_macros.hpp>
+#include <rclcpp/node.hpp>
 
 namespace odometry_utils
 {
@@ -67,24 +67,25 @@ class transform_odometry : public rclcpp::Node
     tf2::fromMsg(righttransform.transform.rotation, right_q);
 
     EasyDistributionFunction<Odom, Odom, Vec<0> > transformer(
-      [this, &left_p, &left_q, &right_p, &right_q](Odom const &odom, Vec<0> const &extra)
-      {
-        return Odom(odom.stamp, frame_id, child_frame_id,
-                    left_p + left_q * (odom.pos + odom.orient * right_p),
-                    left_q * odom.orient * right_q,
-                    right_q.inverse() * (odom.vel - right_p.cross(odom.ang_vel)),
-                    right_q.inverse() * odom.ang_vel);
-      },
-    GaussianDistribution<Vec<0> >(Vec<0>(), SqMat<0>()));
+        [this, &left_p, &left_q, &right_p, &right_q](Odom const &odom, Vec<0> const &extra)
+        {
+          return Odom(odom.stamp, frame_id, child_frame_id, left_p + left_q * (odom.pos + odom.orient * right_p),
+                      left_q * odom.orient * right_q, right_q.inverse() * (odom.vel - right_p.cross(odom.ang_vel)),
+                      right_q.inverse() * odom.ang_vel);
+        },
+        GaussianDistribution<Vec<0> >(Vec<0>(), SqMat<0>()));
 
     pub.publish(msg_from_odom(transformer(odom_from_msg(*msgp))));
   }
 
 public:
-  transform_odometry() : Node("transform_odometry"), tf_buffer_(this->get_clock()), tf_listener_(std::make_shared<tf2_ros::TransformListener>(tf_buffer_))
+  transform_odometry()
+    : Node("transform_odometry")
+    , tf_buffer_(this->get_clock())
+    , tf_listener_(std::make_shared<tf2_ros::TransformListener>(tf_buffer_))
   {
-    this->declare_parameter<std::string>("frame_id", "default_frame_id"); // Default value as example
-    this->declare_parameter<std::string>("child_frame_id", "default_child_frame_id"); // Default value as example
+    this->declare_parameter<std::string>("frame_id", "default_frame_id");              // Default value as example
+    this->declare_parameter<std::string>("child_frame_id", "default_child_frame_id");  // Default value as example
 
     if (!this->get_parameter("frame_id", frame_id))
     {
@@ -96,12 +97,11 @@ class transform_odometry : public rclcpp::Node
     }
 
     sub = this->create_subscription<nav_msgs::msg::Odometry>(
-      "orig_odom", 10,
-      std::bind(&TransformOdometry::handle, this, std::placeholders::_1));
+        "orig_odom", 10, std::bind(&TransformOdometry::handle, this, std::placeholders::_1));
 
     pub = this->create_publisher<nav_msgs::msg::Odometry>("odom", 10);
-};
+  };
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(odometry_utils::TransformOdometry)
+  RCLCPP_COMPONENTS_REGISTER_NODE(odometry_utils::TransformOdometry)
 }