ci(pre-commit): autofix

autowarefoundation · Oct 21, 2022 · af3f271 · af3f271
1 parent 894cdfa
commit af3f271
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Showing 2 changed files with 6 additions and 7 deletions.
diff --git a/control/trajectory_follower/include/trajectory_follower/pid_longitudinal_controller.hpp b/control/trajectory_follower/include/trajectory_follower/pid_longitudinal_controller.hpp
@@ -85,7 +85,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC PidLongitudinalController : public Longitudinal
     float64_t slope_angle{0.0};
     float64_t dt{0.0};
     float64_t trans_deviation{0.0};  // translation deviation between nearest point and current_pose
-    float64_t rot_deviation{0.0};  // rotation deviation between nearest point and current_pose
+    float64_t rot_deviation{0.0};    // rotation deviation between nearest point and current_pose
   };
   ControlData m_control_data;
   rclcpp::Node * node_;

diff --git a/control/trajectory_follower/src/pid_longitudinal_controller.cpp b/control/trajectory_follower/src/pid_longitudinal_controller.cpp
@@ -384,7 +384,8 @@ boost::optional<LongitudinalOutput> PidLongitudinalController::run()
     if (m_enable_large_tracking_error_emergency) {
       m_control_state = ControlState::EMERGENCY;  // update control state
     }
-    const Motion raw_ctrl_cmd = calcEmergencyCtrlCmd(m_control_data.dt);  // calculate control command
+    const Motion raw_ctrl_cmd =
+      calcEmergencyCtrlCmd(m_control_data.dt);  // calculate control command
     m_prev_raw_ctrl_cmd = raw_ctrl_cmd;
     const auto cmd_msg =
       createCtrlCmdMsg(raw_ctrl_cmd, m_control_data.current_motion.vel);  // create control command
@@ -437,7 +438,7 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
   const bool is_dist_deviation_large =
     m_state_transition_params.emergency_state_traj_trans_dev < control_data.trans_deviation;
   control_data.rot_deviation = std::abs(tier4_autoware_utils::normalizeRadian(
-      tf2::getYaw(nearest_point.orientation) - tf2::getYaw(current_pose.orientation)));
+    tf2::getYaw(nearest_point.orientation) - tf2::getYaw(current_pose.orientation)));
   const bool is_yaw_deviation_large =
     m_state_transition_params.emergency_state_traj_rot_dev < control_data.rot_deviation;
 
@@ -962,13 +963,11 @@ void PidLongitudinalController::checkControlState(
     msg = "emergency occurred due to ";
   }
 
-  if(m_state_transition_params.emergency_state_traj_trans_dev < m_control_data.trans_deviation)
-  {
+  if (m_state_transition_params.emergency_state_traj_trans_dev < m_control_data.trans_deviation) {
     msg += "translation deviation";
   }
 
-  if(m_state_transition_params.emergency_state_traj_rot_dev < m_control_data.rot_deviation)
-  {
+  if (m_state_transition_params.emergency_state_traj_rot_dev < m_control_data.rot_deviation) {
     msg += "rotation deviation";
   }