style(pre-commit): autofix

Author: pre-commit-ci[bot]

perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp

@@ -15,6 +15,7 @@
 #pragma once
 #include "autoware/euclidean_cluster/euclidean_cluster_interface.hpp"
 #include "autoware/euclidean_cluster/utils.hpp"
+
 #include <autoware_utils/ros/diagnostics_interface.hpp>
 #include <rclcpp/node.hpp>
 
@@ -45,10 +46,11 @@ class VoxelGridBasedEuclideanCluster : public EuclideanClusterInterface
   {
     min_points_number_per_voxel_ = min_points_number_per_voxel;
   }
-  void setDiagnosticsInterface(autoware_utils::DiagnosticsInterface* diag_ptr)
+  void setDiagnosticsInterface(autoware_utils::DiagnosticsInterface * diag_ptr)
   {
     diagnostics_interface_ptr_ = diag_ptr;
   }
+
 private:
   pcl::VoxelGrid<pcl::PointXYZ> voxel_grid_;
   float tolerance_;
@@ -58,7 +60,7 @@ class VoxelGridBasedEuclideanCluster : public EuclideanClusterInterface
   void publishDiagnosticsSummary(
     const std::vector<std::string> & warnings,
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr & pointcloud_msg);
-    autoware_utils::DiagnosticsInterface* diagnostics_interface_ptr_{nullptr};
+  autoware_utils::DiagnosticsInterface * diagnostics_interface_ptr_{nullptr};
 };
 
 }  // namespace autoware::euclidean_cluster

perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp"
+
 #include <rclcpp/node.hpp>
 
 #include <pcl/kdtree/kdtree.h>
@@ -55,8 +56,9 @@ void VoxelGridBasedEuclideanCluster::publishDiagnosticsSummary(
 
   std::stringstream summary;
   if (!warnings.empty()) {
-    summary << warnings.size() << " clusters skipped because cluster size exceeds the maximum allowed "
-                    << max_cluster_size_  << " \n";
+    summary << warnings.size()
+            << " clusters skipped because cluster size exceeds the maximum allowed "
+            << max_cluster_size_ << " \n";
     for (const auto & warn : warnings) {
       summary << " - " << warn << "\n";
     }
@@ -65,12 +67,12 @@ void VoxelGridBasedEuclideanCluster::publishDiagnosticsSummary(
     diagnostics_interface_ptr_->add_key_value("is_cluster_data_size_within_range", true);
   }
   diagnostics_interface_ptr_->update_level_and_message(
-    warnings.empty() ? static_cast<int8_t>(diagnostic_msgs::msg::DiagnosticStatus::OK) : static_cast<int8_t>(diagnostic_msgs::msg::DiagnosticStatus::WARN),
+    warnings.empty() ? static_cast<int8_t>(diagnostic_msgs::msg::DiagnosticStatus::OK)
+                     : static_cast<int8_t>(diagnostic_msgs::msg::DiagnosticStatus::WARN),
     summary.str());
   diagnostics_interface_ptr_->publish(pointcloud_msg->header.stamp);
 }
 
-
 // TODO(badai-nguyen): remove this function when field copying also implemented for
 // euclidean_cluster.cpp
 bool VoxelGridBasedEuclideanCluster::cluster(
@@ -167,17 +169,18 @@ bool VoxelGridBasedEuclideanCluster::cluster(
   // build output and check cluster size
   {
     // At the start, create a container to collect warnings.
-    std::vector<std::string> warning_messages;  
+    std::vector<std::string> warning_messages;
     for (size_t i = 0; i < temporary_clusters.size(); ++i) {
       auto & i_cluster_data_size = clusters_data_size.at(i);
       int cluster_size = static_cast<int>(i_cluster_data_size / point_step);
       if (cluster_size < min_cluster_size_) {
         // Cluster size is below the minimum threshold; skip without messaging.
         continue;
       }
-      if (cluster_size > max_cluster_size_ ) {
+      if (cluster_size > max_cluster_size_) {
         // Cluster size exceeds the maximum threshold; log a warning.
-        warning_messages.push_back(" Cluster " + std::to_string(i) + " (" + std::to_string(cluster_size) + ").");
+        warning_messages.push_back(
+          " Cluster " + std::to_string(i) + " (" + std::to_string(cluster_size) + ").");
         continue;
       }
       const auto & cluster = temporary_clusters.at(i);
@@ -203,8 +206,7 @@ bool VoxelGridBasedEuclideanCluster::cluster(
     }
     objects.header = pointcloud_msg->header;
 
-    publishDiagnosticsSummary(warning_messages,  pointcloud_msg);
-
+    publishDiagnosticsSummary(warning_messages, pointcloud_msg);
   }
 
   return true;

perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp

@@ -36,9 +36,10 @@ VoxelGridBasedEuclideanClusterNode::VoxelGridBasedEuclideanClusterNode(
     use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size,
     min_points_number_per_voxel);
   // Pass the diagnostics interface pointer from the node to the cluster
-  diagnostics_interface_ptr_ = std::make_unique<autoware_utils::DiagnosticsInterface>(this, "euclidean_cluster");
+  diagnostics_interface_ptr_ =
+    std::make_unique<autoware_utils::DiagnosticsInterface>(this, "euclidean_cluster");
   cluster_->setDiagnosticsInterface(diagnostics_interface_ptr_.get());
-  
+
   using std::placeholders::_1;
   pointcloud_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
     "input", rclcpp::SensorDataQoS().keep_last(1),
@@ -52,8 +53,6 @@ VoxelGridBasedEuclideanClusterNode::VoxelGridBasedEuclideanClusterNode(
     std::make_unique<autoware_utils::DebugPublisher>(this, "voxel_grid_based_euclidean_cluster");
   stop_watch_ptr_->tic("cyclic_time");
   stop_watch_ptr_->tic("processing_time");
-  
-
 }
 
 void VoxelGridBasedEuclideanClusterNode::onPointCloud(

perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp

@@ -17,8 +17,8 @@
 #include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp"
 
 #include <autoware_utils/ros/debug_publisher.hpp>
-#include <autoware_utils/system/stop_watch.hpp>
 #include <autoware_utils/ros/diagnostics_interface.hpp>
+#include <autoware_utils/system/stop_watch.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -45,7 +45,6 @@ class VoxelGridBasedEuclideanClusterNode : public rclcpp::Node
   std::unique_ptr<autoware_utils::DebugPublisher> debug_publisher_;
 
   std::unique_ptr<autoware_utils::DiagnosticsInterface> diagnostics_interface_ptr_;
-
 };
 
 }  // namespace autoware::euclidean_cluster