style(pre-commit): autofix

autowarefoundation · Jan 17, 2024 · 3444108 · 3444108
1 parent 7450b19
commit 3444108
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/...r_path_start_planner_module/include/behavior_path_start_planner_module/shift_pull_out.hpp b/...r_path_start_planner_module/include/behavior_path_start_planner_module/shift_pull_out.hpp
@@ -34,7 +34,8 @@ class ShiftPullOut : public PullOutPlannerBase
 public:
   explicit ShiftPullOut(
     rclcpp::Node & node, const StartPlannerParameters & parameters,
-    std::shared_ptr<LaneDepartureChecker> & lane_departure_checker, const lanelet::ConstLanelets & expanded_drivable_lanes);
+    std::shared_ptr<LaneDepartureChecker> & lane_departure_checker,
+    const lanelet::ConstLanelets & expanded_drivable_lanes);
 
   PlannerType getPlannerType() override { return PlannerType::SHIFT; };
   std::optional<PullOutPath> plan(const Pose & start_pose, const Pose & goal_pose) override;

diff --git a/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp
@@ -37,8 +37,11 @@ using start_planner_utils::getPullOutLanes;
 
 ShiftPullOut::ShiftPullOut(
   rclcpp::Node & node, const StartPlannerParameters & parameters,
-  std::shared_ptr<LaneDepartureChecker> & lane_departure_checker, const lanelet::ConstLanelets & expanded_drivable_lanes)
-: PullOutPlannerBase{node, parameters}, lane_departure_checker_{lane_departure_checker}, expanded_drivable_lanes_{expanded_drivable_lanes}
+  std::shared_ptr<LaneDepartureChecker> & lane_departure_checker,
+  const lanelet::ConstLanelets & expanded_drivable_lanes)
+: PullOutPlannerBase{node, parameters},
+  lane_departure_checker_{lane_departure_checker},
+  expanded_drivable_lanes_{expanded_drivable_lanes}
 {
 }
 
@@ -53,7 +56,6 @@ std::optional<PullOutPath> ShiftPullOut::plan(const Pose & start_pose, const Pos
     planner_data_, backward_path_length, std::numeric_limits<double>::max(),
     /*forward_only_in_route*/ true);
 
-
   // find candidate paths
   auto pull_out_paths = calcPullOutPaths(*route_handler, road_lanes, start_pose, goal_pose);
   if (pull_out_paths.empty()) {
@@ -77,8 +79,6 @@ std::optional<PullOutPath> ShiftPullOut::plan(const Pose & start_pose, const Pos
         shift_path.points.begin() + pull_out_end_idx + 1);
     }
 
-
-
     // crop backward path
     // removes points which are out of lanes up to the start pose.
     // this ensures that the backward_path stays within the drivable area when starting from a
@@ -106,7 +106,8 @@ std::optional<PullOutPath> ShiftPullOut::plan(const Pose & start_pose, const Pos
     // check lane departure
     if (
       parameters_.check_shift_path_lane_departure &&
-      lane_departure_checker_->checkPathWillLeaveLane(expanded_drivable_lanes_, path_shift_start_to_end)) {
+      lane_departure_checker_->checkPathWillLeaveLane(
+        expanded_drivable_lanes_, path_shift_start_to_end)) {
       continue;
     }