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-11
lines changed

5 files changed

+11
-11
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planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp

+2-2
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@@ -15,12 +15,12 @@
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#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
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#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
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18-
#include "rclcpp/rclcpp.hpp"
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#include "autoware_static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
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#include "autoware_static_centerline_generator/srv/load_map.hpp"
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#include "autoware_static_centerline_generator/srv/plan_path.hpp"
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#include "autoware_static_centerline_generator/srv/plan_route.hpp"
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#include "autoware_static_centerline_generator/type_alias.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "vehicle_info_util/vehicle_info_util.hpp"
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#include <geography_utils/lanelet2_projector.hpp>
@@ -69,7 +69,7 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node
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CenterlineWithRoute generate_centerline_with_route();
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// plan path
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std::vector<TrajectoryPoint> plan_path(const std::vector<lanelet::Id> & route_lane_ids);
72-
static std::vector<TrajectoryPoint> optimize_trajectory(const Path & raw_path) ;
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static std::vector<TrajectoryPoint> optimize_trajectory(const Path & raw_path);
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void on_plan_path(
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const PlanPath::Request::SharedPtr request, const PlanPath::Response::SharedPtr response);
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planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp

+3-3
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@@ -11,8 +11,8 @@
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef AUTOWARE_STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
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#define AUTOWARE_STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
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#ifndef STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
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#define STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
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#include "route_handler/route_handler.hpp"
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#include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -41,4 +41,4 @@ using tier4_autoware_utils::LineString2d;
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using visualization_msgs::msg::MarkerArray;
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} // namespace autoware::static_centerline_generator
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44-
#endif // AUTOWARE_STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
44+
#endif // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_

planning/static_centerline_generator/include/static_centerline_generator/utils.hpp

+1-1
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@@ -15,8 +15,8 @@
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#ifndef STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
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#define STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
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18-
#include "route_handler/route_handler.hpp"
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#include "autoware_static_centerline_generator/type_alias.hpp"
19+
#include "route_handler/route_handler.hpp"
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2121
#include <rclcpp/time.hpp>
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planning/static_centerline_generator/src/static_centerline_generator_node.cpp

+4-4
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@@ -14,6 +14,10 @@
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#include "autoware_static_centerline_generator/static_centerline_generator_node.hpp"
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17+
#include "autoware_static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp"
18+
#include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp"
19+
#include "autoware_static_centerline_generator/type_alias.hpp"
20+
#include "autoware_static_centerline_generator/utils.hpp"
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#include "autoware_static_centerline_optimizer/msg/points_with_lane_id.hpp"
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#include "autoware_static_centerline_optimizer/type_alias.hpp"
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#include "autoware_static_centerline_optimizer/utils.hpp"
@@ -24,10 +28,6 @@
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#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
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#include "motion_utils/resample/resample.hpp"
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#include "motion_utils/trajectory/conversion.hpp"
27-
#include "autoware_static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp"
28-
#include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp"
29-
#include "autoware_static_centerline_generator/type_alias.hpp"
30-
#include "autoware_static_centerline_generator/utils.hpp"
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#include "obstacle_avoidance_planner/node.hpp"
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#include "path_smoother/elastic_band_smoother.hpp"
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#include "tier4_autoware_utils/geometry/geometry.hpp"

planning/static_centerline_generator/test/test_static_centerline_generator.test.py

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@@ -29,7 +29,7 @@
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def generate_test_description():
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lanelet2_map_path = os.path.join(
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get_package_share_directory("autoware_static_centerline_generator"),
32-
"test/data/lanelet2_map.osm"
32+
"test/data/lanelet2_map.osm",
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)
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3535
static_centerline_generator_node = Node(

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