style(pre-commit): autofix

Author: pre-commit-ci[bot]

planning/behavior_velocity_dynamic_obstacle_stop_module/config/dynamic_obstacle_stop.param.yaml

@@ -13,4 +13,4 @@
       minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
       ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
       ignore_objects_behind_ego: false  # if true, ignore objects that are behind the ego vehicle
-      behind_object_distance_threshold: 5.0  # [m] distance behind the ego vehicle to ignore objects
+      behind_object_distance_threshold: 5.0  # [m] distance behind the ego vehicle to ignore objects

planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp

@@ -42,8 +42,10 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
     const auto & ego_pose = ego_data.path.points[path_idx].point.pose;
     const auto angle_diff = tier4_autoware_utils::normalizeRadian(
       tf2::getYaw(ego_pose.orientation) - tf2::getYaw(object_pose.orientation));
-    if ((!params.ignore_objects_behind_ego && std::abs(angle_diff) < params.yaw_threshold_behind_object) ||
-        std::abs(angle_diff) > params.yaw_threshold) {
+    if (
+      (!params.ignore_objects_behind_ego &&
+       std::abs(angle_diff) < params.yaw_threshold_behind_object) ||
+      std::abs(angle_diff) > params.yaw_threshold) {
       tier4_autoware_utils::MultiPoint2d collision_points;
       boost::geometry::intersection(
         object_footprint.outer(), ego_footprint.outer(), collision_points);
@@ -64,13 +66,15 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
 std::vector<Collision> find_collisions(
   const EgoData & ego_data,
   const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
-  const tier4_autoware_utils::MultiPolygon2d & object_forward_footprints, const PlannerParam & params)
+  const tier4_autoware_utils::MultiPolygon2d & object_forward_footprints,
+  const PlannerParam & params)
 {
   std::vector<Collision> collisions;
   for (auto object_idx = 0UL; object_idx < objects.size(); ++object_idx) {
     const auto & object_pose = objects[object_idx].kinematics.initial_pose_with_covariance.pose;
     const auto & object_footprint = object_forward_footprints[object_idx];
-    const auto collision = find_closest_collision_point(ego_data, object_pose, object_footprint, params);
+    const auto collision =
+      find_closest_collision_point(ego_data, object_pose, object_footprint, params);
     if (collision) {
       Collision c;
       c.object_uuid = tier4_autoware_utils::toHexString(objects[object_idx].object_id);

planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.hpp

@@ -39,7 +39,8 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
 std::vector<Collision> find_collisions(
   const EgoData & ego_data,
   const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
-  const tier4_autoware_utils::MultiPolygon2d & obstacle_forward_footprints, const PlannerParam & params);
+  const tier4_autoware_utils::MultiPolygon2d & obstacle_forward_footprints,
+  const PlannerParam & params);
 
 }  // namespace behavior_velocity_planner::dynamic_obstacle_stop
 

planning/behavior_velocity_dynamic_obstacle_stop_module/src/manager.cpp

@@ -35,7 +35,8 @@ DynamicObstacleStopModuleManager::DynamicObstacleStopModuleManager(rclcpp::Node
   pp.stop_distance_buffer = getOrDeclareParameter<double>(node, ns + ".stop_distance_buffer");
   pp.time_horizon = getOrDeclareParameter<double>(node, ns + ".time_horizon");
   pp.yaw_threshold = getOrDeclareParameter<double>(node, ns + ".yaw_threshold");
-  pp.yaw_threshold_behind_object = getOrDeclareParameter<double>(node, ns + ".yaw_threshold_behind_object");
+  pp.yaw_threshold_behind_object =
+    getOrDeclareParameter<double>(node, ns + ".yaw_threshold_behind_object");
   pp.hysteresis = getOrDeclareParameter<double>(node, ns + ".hysteresis");
   pp.add_duration_buffer = getOrDeclareParameter<double>(node, ns + ".add_stop_duration_buffer");
   pp.remove_duration_buffer =

planning/behavior_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp

@@ -56,11 +56,12 @@ std::vector<autoware_auto_perception_msgs::msg::PredictedObject> filter_predicte
     const auto obj_arc_length = motion_utils::calcSignedArcLength(
       ego_data.path.points, ego_data.pose.position,
       o.kinematics.initial_pose_with_covariance.pose.position);
-    if(!params.ignore_objects_behind_ego){
+    if (!params.ignore_objects_behind_ego) {
       return (obj_arc_length < 0.0 &&
-              std::abs(obj_arc_length) < params.behind_object_distance_threshold + o.shape.dimensions.x / 2.0) ||
+              std::abs(obj_arc_length) <
+                params.behind_object_distance_threshold + o.shape.dimensions.x / 2.0) ||
              obj_arc_length > ego_data.longitudinal_offset_to_first_path_idx +
-                              params.ego_longitudinal_offset + o.shape.dimensions.x / 2.0;
+                                params.ego_longitudinal_offset + o.shape.dimensions.x / 2.0;
     }
     return obj_arc_length > ego_data.longitudinal_offset_to_first_path_idx +
                               params.ego_longitudinal_offset + o.shape.dimensions.x / 2.0;

planning/behavior_velocity_dynamic_obstacle_stop_module/src/scene_dynamic_obstacle_stop.cpp

@@ -91,7 +91,8 @@ bool DynamicObstacleStopModule::modifyPathVelocity(PathWithLaneId * path, StopRe
     make_forward_footprints(dynamic_obstacles, params_, hysteresis);
   const auto footprints_duration_us = stopwatch.toc("footprints");
   stopwatch.tic("collisions");
-  auto collisions = find_collisions(ego_data, dynamic_obstacles, obstacle_forward_footprints, params_);
+  auto collisions =
+    find_collisions(ego_data, dynamic_obstacles, obstacle_forward_footprints, params_);
   update_object_map(object_map_, collisions, clock_->now(), ego_data.path.points, params_);
   std::optional<geometry_msgs::msg::Point> earliest_collision =
     find_earliest_collision(object_map_, ego_data);