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planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp

+1-1
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@@ -32,6 +32,6 @@ struct AvoidanceByLCParameters : public AvoidanceParameters
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{
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}
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};
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} // namespace autoware::behavior_path_planner
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} // namespace autoware::behavior_path_planner
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#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_

planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/interface.hpp

+1-1
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@@ -49,6 +49,6 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
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protected:
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void updateRTCStatus(const double start_distance, const double finish_distance) override;
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};
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} // namespace autoware::behavior_path_planner
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} // namespace autoware::behavior_path_planner
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#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_

planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp

+1-1
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@@ -49,6 +49,6 @@ class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
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private:
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std::shared_ptr<AvoidanceByLCParameters> avoidance_parameters_;
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};
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} // namespace autoware::behavior_path_planner
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} // namespace autoware::behavior_path_planner
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#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_

planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp

+4-3
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@@ -27,11 +27,11 @@ using ::behavior_path_planner::DebugData;
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using AvoidanceDebugData = DebugData;
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using ::behavior_path_planner::AvoidancePlanningData;
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using ::behavior_path_planner::LaneChangeParameters;
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using ::behavior_path_planner::NormalLaneChange;
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using ::behavior_path_planner::ObjectData;
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using ::behavior_path_planner::ObjectDataArray;
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using ::behavior_path_planner::PredictedObject;
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using ::behavior_path_planner::helper::avoidance::AvoidanceHelper;
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using ::behavior_path_planner::NormalLaneChange;
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class AvoidanceByLaneChange : public NormalLaneChange
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{
@@ -60,12 +60,13 @@ class AvoidanceByLaneChange : public NormalLaneChange
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std::optional<ObjectData> create_object_data(
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const AvoidancePlanningData & data, const PredictedObject & object) const;
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void fill_avoidance_target_objects(AvoidancePlanningData & data, AvoidanceDebugData & debug) const;
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void fill_avoidance_target_objects(
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AvoidancePlanningData & data, AvoidanceDebugData & debug) const;
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double calc_min_avoidance_length(const ObjectData & nearest_object) const;
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double calc_minimum_lane_change_length() const;
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double calc_lateral_offset() const;
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};
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} // namespace autoware::behavior_path_planner
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} // namespace autoware::behavior_path_planner
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#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_

planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp

+2-2
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@@ -34,10 +34,10 @@
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namespace autoware::behavior_path_planner
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{
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using ::behavior_path_planner::utils::lane_change::debug::createExecutionArea;
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using ::route_handler::Direction;
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using ::behavior_path_planner::LaneChangeModuleType;
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using ::behavior_path_planner::Point2d;
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using ::behavior_path_planner::utils::lane_change::debug::createExecutionArea;
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using ::route_handler::Direction;
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AvoidanceByLaneChange::AvoidanceByLaneChange(
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const std::shared_ptr<LaneChangeParameters> & parameters,

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