style(pre-commit): autofix

Author: pre-commit-ci-lite[bot]

planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp

@@ -184,12 +184,15 @@ class MPTOptimizer
     const TrajectoryParam & traj_param, const std::shared_ptr<DebugData> debug_data_ptr,
     const std::shared_ptr<autoware_utils::TimeKeeper> time_keeper_);
 
-
-  std::pair<std::vector<ReferencePoint>, autoware::interpolation::SplineInterpolationPoints2d> calcReferencePointsAndSpline(
+  std::pair<std::vector<ReferencePoint>, autoware::interpolation::SplineInterpolationPoints2d>
+  calcReferencePointsAndSpline(
     const PlannerData & planner_data, const std::vector<TrajectoryPoint> & smoothed_points) const;
   void acadosCallback(
     const PlannerData & planner_data,
-    const std::function<void(std::optional<std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)>& callback);
+    const std::function<
+      void(std::optional<
+           std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)> &
+      callback);
   std::optional<std::vector<TrajectoryPoint>> optimizeTrajectory(const PlannerData & planner_data);
   std::optional<std::vector<TrajectoryPoint>> getPrevOptimizedTrajectoryPoints() const;
 
@@ -416,12 +419,15 @@ class MPTOptimizer
     const std::vector<TrajectoryPoint> & mpt_traj_points) const;
 
   // Add new method to publish spline coefficients and curvatures
-void publishSplineCoefficientsAndCurvatures(
+  void publishSplineCoefficientsAndCurvatures(
     const std::vector<ReferencePoint> & ref_points,
     const autoware::interpolation::SplineInterpolationPoints2d & ref_points_spline,
     const geometry_msgs::msg::Pose & ego_pose,
     const autoware::vehicle_info_utils::VehicleInfo & vehicle_info,
-    const std::function<void(std::optional<std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)>& callback) const;
+    const std::function<
+      void(std::optional<
+           std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)> &
+      callback) const;
 
   void publishOptimizedSteering(const Eigen::VectorXd & optimized_variables) const;
 

planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp

@@ -113,8 +113,7 @@ class PathOptimizer : public rclcpp::Node
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
 
   void postProcessAndPublishOptimizedTrajectory(
-    const PlannerData & planner_data,
-    const std::vector<TrajectoryPoint> & optimized_traj_points,
+    const PlannerData & planner_data, const std::vector<TrajectoryPoint> & optimized_traj_points,
     const Path::ConstSharedPtr path_ptr);
 
   // subscriber callback function

planning/autoware_path_optimizer/src/mpt_optimizer.cpp

@@ -482,9 +482,12 @@ void MPTOptimizer::onParam(const std::vector<rclcpp::Parameter> & parameters)
 
 void MPTOptimizer::acadosCallback(
   const PlannerData & planner_data,
-  const std::function<void(std::optional<std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)>& callback)
+  const std::function<
+    void(std::optional<
+         std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)> &
+    callback)
 {
-autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_);
+  autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 
   const auto & p = planner_data;
   const auto & traj_points = p.traj_points;
@@ -601,7 +604,10 @@ void MPTOptimizer::publishSplineCoefficientsAndCurvatures(
   const autoware::interpolation::SplineInterpolationPoints2d & ref_points_spline,
   const geometry_msgs::msg::Pose & ego_pose,
   const autoware::vehicle_info_utils::VehicleInfo & vehicle_info,
-  const std::function<void(std::optional<std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)>& callback) const
+  const std::function<
+    void(std::optional<
+         std::pair<std_msgs::msg::Float32MultiArray, autoware_planning_msgs::msg::Trajectory>>)> &
+    callback) const
 {
   // Get spline coefficients for x and y
   const auto & knots = ref_points_spline.getSplineKnots();
@@ -791,18 +797,19 @@ void MPTOptimizer::publishSplineCoefficientsAndCurvatures(
   }
 
   acados_mpt_client_->async_send_request(
-      req,
-      [&](std::shared_future<autoware_internal_debug_msgs::srv::SplineDebug::Response::SharedPtr> future) {
-          auto res = future.get();
-          const auto &optimised_steering = res->optimised_steering;
-          const auto &optimised_trajectory = res->optimised_trajectory;
-
-          callback(std::make_optional(std::make_pair(optimised_steering, optimised_trajectory)));
-      }
-  );
+    req, [&](
+           std::shared_future<autoware_internal_debug_msgs::srv::SplineDebug::Response::SharedPtr>
+             future) {
+      auto res = future.get();
+      const auto & optimised_steering = res->optimised_steering;
+      const auto & optimised_trajectory = res->optimised_trajectory;
+
+      callback(std::make_optional(std::make_pair(optimised_steering, optimised_trajectory)));
+    });
 }
 
-std::pair<std::vector<ReferencePoint>, autoware::interpolation::SplineInterpolationPoints2d> MPTOptimizer::calcReferencePointsAndSpline(
+std::pair<std::vector<ReferencePoint>, autoware::interpolation::SplineInterpolationPoints2d>
+MPTOptimizer::calcReferencePointsAndSpline(
   const PlannerData & planner_data, const std::vector<TrajectoryPoint> & smoothed_points) const
 {
   autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_);

planning/autoware_path_optimizer/src/node.cpp

@@ -231,8 +231,7 @@ void PathOptimizer::resetPreviousData()
 }
 
 void PathOptimizer::postProcessAndPublishOptimizedTrajectory(
-  const PlannerData & planner_data,
-  const std::vector<TrajectoryPoint> & optimized_traj_points,
+  const PlannerData & planner_data, const std::vector<TrajectoryPoint> & optimized_traj_points,
   const Path::ConstSharedPtr path_ptr)
 {
   // 3. extend trajectory to connect the optimized trajectory and the following path smoothly
@@ -292,31 +291,22 @@ void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr)
   // 1. create planner data
   const auto planner_data = createPlannerData(*path_ptr, ego_odom_ptr);
   if (use_acados_) {
-    std::function<void(
-      std::optional<
-        std::pair<
-          std_msgs::msg::Float32MultiArray_<std::allocator<void>>,
-          autoware_planning_msgs::msg::Trajectory_<std::allocator<void>>
-        >
-      >
-    )> callback =
-    [&](std::optional<
-          std::pair<
-            std_msgs::msg::Float32MultiArray_<std::allocator<void>>,
-            autoware_planning_msgs::msg::Trajectory_<std::allocator<void>>
-          >
-        > response)
-    {
+    std::function<void(std::optional<std::pair<
+                         std_msgs::msg::Float32MultiArray_<std::allocator<void>>,
+                         autoware_planning_msgs::msg::Trajectory_<std::allocator<void>>>>)>
+      callback = [&](
+                   std::optional<std::pair<
+                     std_msgs::msg::Float32MultiArray_<std::allocator<void>>,
+                     autoware_planning_msgs::msg::Trajectory_<std::allocator<void>>>>
+                     response) {
         if (!response.has_value()) return;
 
-        const auto& optimized_traj_points = response->second.points;
+        const auto & optimized_traj_points = response->second.points;
 
-        postProcessAndPublishOptimizedTrajectory(
-            planner_data, optimized_traj_points, path_ptr);
-    };
-    
-  } else {
+        postProcessAndPublishOptimizedTrajectory(planner_data, optimized_traj_points, path_ptr);
+      };
 
+  } else {
     // 2. generate optimized trajectory
     const auto optimized_traj_points = generateOptimizedTrajectory(planner_data);