style(pre-commit): autofix

Author: pre-commit-ci[bot]

planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp

@@ -33,9 +33,9 @@
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp>
 #include <autoware_planning_msgs/msg/remaining_distance_eta.hpp>
+#include <geometry_msgs/msg/pose.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <geometry_msgs/msg/pose.hpp>
 #include <tier4_planning_msgs/msg/approval.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 #include <tier4_planning_msgs/msg/path_change_module.hpp>
@@ -65,9 +65,9 @@ using autoware_perception_msgs::msg::TrafficSignalArray;
 using autoware_planning_msgs::msg::LaneletRoute;
 using autoware_planning_msgs::msg::PoseWithUuidStamped;
 using autoware_planning_msgs::msg::RemainingDistanceETA;
+using geometry_msgs::msg::Pose;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
-using geometry_msgs::msg::Pose;
 using rcl_interfaces::msg::SetParametersResult;
 using steering_factor_interface::SteeringFactorInterface;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
@@ -191,7 +191,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
    */
   void publishRemainingDistanceETA(
     const double & remaining_distance, const route_handler::EstimatedTimeOfArrival & eta) const;
-  
+
   /**
    * @brief publish reroute availability
    */

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -62,7 +62,9 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
 
   // publisher
   path_publisher_ = create_publisher<PathWithLaneId>("~/output/path", 1);
-  remaining_distance_eta_publisher_ = create_publisher<RemainingDistanceETA>("~/output/remaining_distance_eta", rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable());
+  remaining_distance_eta_publisher_ = create_publisher<RemainingDistanceETA>(
+    "~/output/remaining_distance_eta",
+    rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable());
   turn_signal_publisher_ =
     create_publisher<TurnIndicatorsCommand>("~/output/turn_indicators_cmd", 1);
   hazard_signal_publisher_ = create_publisher<HazardLightsCommand>("~/output/hazard_lights_cmd", 1);
@@ -542,7 +544,8 @@ void BehaviorPathPlannerNode::publish_reroute_availability() const
   reroute_availability_publisher_->publish(is_reroute_available);
 }
 
-void BehaviorPathPlannerNode::publishRemainingDistanceETA(const double & remaining_distance, const route_handler::EstimatedTimeOfArrival & eta) const
+void BehaviorPathPlannerNode::publishRemainingDistanceETA(
+  const double & remaining_distance, const route_handler::EstimatedTimeOfArrival & eta) const
 {
   RemainingDistanceETA remaining_distance_eta;
   remaining_distance_eta.remaining_distance = remaining_distance;
@@ -551,7 +554,6 @@ void BehaviorPathPlannerNode::publishRemainingDistanceETA(const double & remaini
   remaining_distance_eta.seconds = eta.seconds;
 
   remaining_distance_eta_publisher_->publish(remaining_distance_eta);
-
 }
 
 void BehaviorPathPlannerNode::publish_turn_signal_debug_data(const TurnSignalDebugData & debug_data)

planning/route_handler/include/route_handler/route_handler.hpp

@@ -50,7 +50,8 @@ using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
 enum class Direction { NONE, LEFT, RIGHT };
 enum class PullOverDirection { NONE, LEFT, RIGHT };
 enum class PullOutDirection { NONE, LEFT, RIGHT };
-struct EstimatedTimeOfArrival {
+struct EstimatedTimeOfArrival
+{
   uint8_t hours;
   uint8_t minutes;
   uint8_t seconds;
@@ -362,7 +363,10 @@ class RouteHandler
   bool isPreferredLane(const lanelet::ConstLanelet & lanelet) const;
   lanelet::ConstLanelets getClosestLanelets(const geometry_msgs::msg::Pose & target_pose) const;
   double getRemainingDistance(const Pose & current_pose, const Pose & goal_pose_);
-  EstimatedTimeOfArrival getEstimatedTimeOfArrival(const double & remaining_distance, const geometry_msgs::msg::Vector3 & current_vehicle_velocity);
+  EstimatedTimeOfArrival getEstimatedTimeOfArrival(
+    const double & remaining_distance,
+    const geometry_msgs::msg::Vector3 & current_vehicle_velocity);
+
 private:
   // MUST
   lanelet::routing::RoutingGraphPtr routing_graph_ptr_;

planning/route_handler/src/route_handler.cpp

@@ -2261,13 +2261,13 @@ bool RouteHandler::hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath &
 }
 
 double RouteHandler::getRemainingDistance(const Pose & current_pose, const Pose & goal_pose_)
-{/**
+{ /**
 
-double dist_to_goal = lanelet::geometry::toArcCoordinates(
-                                    lanelet::utils::to2D(lanelet.centerline()),
-                                    lanelet::utils::to2D(target_goal_position).basicPoint())
-                                    .length;
-*/
+ double dist_to_goal = lanelet::geometry::toArcCoordinates(
+                                     lanelet::utils::to2D(lanelet.centerline()),
+                                     lanelet::utils::to2D(target_goal_position).basicPoint())
+                                     .length;
+ */
   static bool is_first_time{true};
   double length = 0.0;
   size_t counter = 0;
@@ -2294,10 +2294,9 @@ double dist_to_goal = lanelet::geometry::toArcCoordinates(
       break;
     }
 
-    if(shortest_path.size() == 1 && !is_first_time) {
+    if (shortest_path.size() == 1 && !is_first_time) {
       length += tier4_autoware_utils::calcDistance2d(current_pose.position, goal_pose_.position);
       break;
-      
     }
 
     if (counter == 0) {
@@ -2323,14 +2322,14 @@ double dist_to_goal = lanelet::geometry::toArcCoordinates(
   return length;
 }
 
-EstimatedTimeOfArrival RouteHandler::getEstimatedTimeOfArrival(const double & remaining_distance, const geometry_msgs::msg::Vector3 & current_vehicle_velocity)
+EstimatedTimeOfArrival RouteHandler::getEstimatedTimeOfArrival(
+  const double & remaining_distance, const geometry_msgs::msg::Vector3 & current_vehicle_velocity)
 {
-
   double current_velocity_norm = std::sqrt(
     current_vehicle_velocity.x * current_vehicle_velocity.x +
     current_vehicle_velocity.y * current_vehicle_velocity.y);
 
-  if(remaining_distance < 0.0001 || current_velocity_norm < 0.0001){
+  if (remaining_distance < 0.0001 || current_velocity_norm < 0.0001) {
     eta.hours = 0;
     eta.minutes = 0;
     eta.seconds = 0;