style(pre-commit): autofix

Author: pre-commit-ci[bot]

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp

@@ -61,10 +61,10 @@ namespace autoware::velocity_smoother
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
-using autoware_utils::DiagnosticsInterface;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_internal_debug_msgs::msg::Float32Stamped;
 using autoware_internal_debug_msgs::msg::Float64Stamped;
+using autoware_utils::DiagnosticsInterface;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
@@ -270,8 +270,7 @@ class VelocitySmootherNode : public rclcpp::Node
   rclcpp::Publisher<Float32Stamped>::SharedPtr debug_closest_jerk_;
   rclcpp::Publisher<Float64Stamped>::SharedPtr debug_calculation_time_;
   rclcpp::Publisher<Float32Stamped>::SharedPtr debug_closest_max_velocity_;
-  rclcpp::Publisher<autoware_utils::ProcessingTimeDetail>::SharedPtr
-    debug_processing_time_detail_;
+  rclcpp::Publisher<autoware_utils::ProcessingTimeDetail>::SharedPtr debug_processing_time_detail_;
 
   // For Jerk Filtered Algorithm Debug
   rclcpp::Publisher<Trajectory>::SharedPtr pub_forward_filtered_trajectory_;

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp

@@ -16,9 +16,9 @@
 #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__ANALYTICAL_JERK_CONSTRAINED_SMOOTHER__ANALYTICAL_JERK_CONSTRAINED_SMOOTHER_HPP_  // NOLINT
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
-#include "autoware_utils/system/time_keeper.hpp"
 #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.hpp"
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
+#include "autoware_utils/system/time_keeper.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp

@@ -17,9 +17,9 @@
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/qp_interface/qp_interface.hpp"
+#include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "autoware_utils/geometry/geometry.hpp"
 #include "autoware_utils/system/time_keeper.hpp"
-#include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp

@@ -17,9 +17,9 @@
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/osqp_interface/osqp_interface.hpp"
+#include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "autoware_utils/geometry/geometry.hpp"
 #include "autoware_utils/system/time_keeper.hpp"
-#include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp

@@ -17,9 +17,9 @@
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/osqp_interface/osqp_interface.hpp"
+#include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "autoware_utils/geometry/geometry.hpp"
 #include "autoware_utils/system/time_keeper.hpp"
-#include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp

@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__SMOOTHER_BASE_HPP_
 #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__SMOOTHER_BASE_HPP_
 
-#include "autoware_utils/system/time_keeper.hpp"
 #include "autoware/velocity_smoother/resample.hpp"
+#include "autoware_utils/system/time_keeper.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"

planning/autoware_velocity_smoother/src/node.cpp

@@ -15,10 +15,10 @@
 #include "autoware/velocity_smoother/node.hpp"
 
 #include "autoware/motion_utils/marker/marker_helper.hpp"
-#include "autoware_utils/ros/update_param.hpp"
 #include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp"
 #include "autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp"
 #include "autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp"
+#include "autoware_utils/ros/update_param.hpp"
 
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
@@ -50,10 +50,9 @@ VelocitySmootherNode::VelocitySmootherNode(const rclcpp::NodeOptions & node_opti
 
   // create time_keeper and its publisher
   // NOTE: This has to be called before setupSmoother to pass the time_keeper to the smoother.
-  debug_processing_time_detail_ = create_publisher<autoware_utils::ProcessingTimeDetail>(
-    "~/debug/processing_time_detail_ms", 1);
-  time_keeper_ =
-    std::make_shared<autoware_utils::TimeKeeper>(debug_processing_time_detail_);
+  debug_processing_time_detail_ =
+    create_publisher<autoware_utils::ProcessingTimeDetail>("~/debug/processing_time_detail_ms", 1);
+  time_keeper_ = std::make_shared<autoware_utils::TimeKeeper>(debug_processing_time_detail_);
 
   // create smoother
   setupSmoother(wheelbase_);
@@ -99,8 +98,7 @@ VelocitySmootherNode::VelocitySmootherNode(const rclcpp::NodeOptions & node_opti
   clock_ = get_clock();
 
   logger_configure_ = std::make_unique<autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ =
-    std::make_unique<autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ = std::make_unique<autoware_utils::PublishedTimePublisher>(this);
 }
 
 void VelocitySmootherNode::setupSmoother(const double wheelbase)
@@ -1075,8 +1073,7 @@ double VelocitySmootherNode::calcTravelDistance() const
   const auto closest_point = calcProjectedTrajectoryPointFromEgo(prev_output_);
 
   if (prev_closest_point_) {
-    const double travel_dist =
-      autoware_utils::calc_distance2d(*prev_closest_point_, closest_point);
+    const double travel_dist = autoware_utils::calc_distance2d(*prev_closest_point_, closest_point);
     return travel_dist;
   }
 

planning/autoware_velocity_smoother/src/resample.cpp

@@ -17,8 +17,8 @@
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
-#include "autoware_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <algorithm>
 #include <vector>

planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp

@@ -16,9 +16,10 @@
 
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
-#include <autoware_utils/geometry/geometry.hpp>
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 
+#include <autoware_utils/geometry/geometry.hpp>
+
 #include <algorithm>
 #include <memory>
 #include <string>
@@ -358,9 +359,7 @@ TrajectoryPoints AnalyticalJerkConstrainedSmoother::applyLateralAccelerationFilt
       continue;
     }
 
-    if (
-      autoware_utils::calc_distance2d(output.at(end_index), output.at(index)) <
-      dist_threshold) {
+    if (autoware_utils::calc_distance2d(output.at(end_index), output.at(index)) < dist_threshold) {
       end_index = index;
       min_latacc_velocity = std::min(
         static_cast<double>(output.at(index).longitudinal_velocity_mps), min_latacc_velocity);
@@ -491,8 +490,7 @@ bool AnalyticalJerkConstrainedSmoother::applyBackwardDecelFilter(
       }
     }
     for (size_t i = decel_target_index; i > start_index; --i) {
-      dist += autoware_utils::calc_distance2d(
-        output_trajectory.at(i - 1), output_trajectory.at(i));
+      dist += autoware_utils::calc_distance2d(output_trajectory.at(i - 1), output_trajectory.at(i));
       dist_to_target.at(i - 1) = dist;
     }
 

planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp

@@ -15,6 +15,7 @@
 #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.hpp"
 
 #include "autoware/interpolation/linear_interpolation.hpp"
+
 #include <autoware_utils/geometry/geometry.hpp>
 
 #include <algorithm>
@@ -226,8 +227,8 @@ bool calcStopVelocityWithConstantJerkAccLimit(
   std::vector<double> distances;
   distances.push_back(distance);
   for (size_t i = start_index; i < output_trajectory.size() - 1; ++i) {
-    distance += autoware_utils::calc_distance2d(
-      output_trajectory.at(i), output_trajectory.at(i + 1));
+    distance +=
+      autoware_utils::calc_distance2d(output_trajectory.at(i), output_trajectory.at(i + 1));
     if (distance > xs.back()) {
       break;
     }

planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp

@@ -449,8 +449,8 @@ TrajectoryPoints JerkFilteredSmoother::mergeFilteredTrajectory(
       merged.at(i).longitudinal_velocity_mps = current_vel;
       merged.at(i).acceleration_mps2 = current_acc;
 
-      const double ds = autoware_utils::calc_distance2d(
-        forward_filtered.at(i + 1), forward_filtered.at(i));
+      const double ds =
+        autoware_utils::calc_distance2d(forward_filtered.at(i + 1), forward_filtered.at(i));
       const double max_dt =
         std::pow(6.0 * ds / std::fabs(j_min), 1.0 / 3.0);  // assuming v0 = a0 = 0.
       const double dt = std::min(ds / std::max(current_vel, 1.0e-6), max_dt);

planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp

@@ -17,11 +17,12 @@
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
-#include <autoware_utils/geometry/geometry.hpp>
-#include <autoware_utils/math/unit_conversion.hpp>
 #include "autoware/velocity_smoother/resample.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 
+#include <autoware_utils/geometry/geometry.hpp>
+#include <autoware_utils/math/unit_conversion.hpp>
+
 #include <algorithm>
 #include <cmath>
 #include <limits>
@@ -274,8 +275,7 @@ TrajectoryPoints SmootherBase::applySteeringRateLimit(
     const auto mean_vel =
       (output.at(i).longitudinal_velocity_mps + output.at(i + 1).longitudinal_velocity_mps) / 2.0;
     const auto target_mean_vel =
-      mean_vel *
-      (autoware_utils::deg2rad(base_param_.max_steering_angle_rate) / steer_rate);
+      mean_vel * (autoware_utils::deg2rad(base_param_.max_steering_angle_rate) / steer_rate);
 
     for (size_t k = 0; k < 2; k++) {
       auto & velocity = output.at(i + k).longitudinal_velocity_mps;

planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp

@@ -51,12 +51,12 @@ namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
 using autoware::universe_utils::Polygon2d;
-using autoware_utils::StopWatch;
 using autoware_internal_planning_msgs::msg::PathWithLaneId;
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::TrafficLightElement;
+using autoware_utils::StopWatch;
 using lanelet::autoware::Crosswalk;
 
 namespace

planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp

@@ -16,9 +16,9 @@
 #define UTILS_HPP_
 
 #include <autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp>
-#include <autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp>
 
 #include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_v2x_msgs/msg/key_value.hpp>