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brettpacbrettpac
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Pre-commit fixes (#681)
1 parent 50a1a61 commit c4d020d

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12 files changed

+372
-346
lines changed

12 files changed

+372
-346
lines changed

‎smacc2_client_library/cl_foundation_pose/include/cl_foundation_pose/cl_foundation_pose.hpp‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -26,11 +26,10 @@
2626

2727
namespace cl_foundation_pose
2828
{
29-
using namespace smacc2::client_core_components;
29+
using namespace smacc2::client_core_components;
3030

3131
class ClFoundationPose : public smacc2::ISmaccClient
3232
{
33-
3433
public:
3534
ClFoundationPose() {}
3635

@@ -40,4 +39,4 @@ class ClFoundationPose : public smacc2::ISmaccClient
4039
}
4140
};
4241

43-
} // namespace cl_foundation_pose
42+
} // namespace cl_foundation_pose

‎smacc2_client_library/cl_foundation_pose/include/cl_foundation_pose/client_behaviors/cb_pause_object_tracking.hpp‎

Lines changed: 8 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -25,21 +25,15 @@
2525
namespace cl_foundation_pose
2626
{
2727

28-
class CbTrackObjectPause : public smacc2::SmaccClientBehavior , public smacc2::ISmaccUpdatable
28+
class CbTrackObjectPause : public smacc2::SmaccClientBehavior, public smacc2::ISmaccUpdatable
2929
{
3030
private:
31-
cl_foundation_pose::CpObjectTrackerTf *objectTracker_ = nullptr;
31+
cl_foundation_pose::CpObjectTrackerTf * objectTracker_ = nullptr;
3232

3333
public:
34-
CbTrackObjectPose()
35-
{
36-
37-
}
38-
39-
virtual ~CbTrackObjectPose()
40-
{
34+
CbTrackObjectPose() {}
4135

42-
}
36+
virtual ~CbTrackObjectPose() {}
4337

4438
virtual void onEntry() override
4539
{
@@ -49,15 +43,12 @@ class CbTrackObjectPause : public smacc2::SmaccClientBehavior , public smacc2::I
4943
RCLCPP_INFO(getLogger(), "CbTrackObjectPose onEntry - enabled");
5044
}
5145

52-
virtual void onExit() override
53-
{
54-
objectTracker_->setEnabled(false);
55-
}
46+
virtual void onExit() override { objectTracker_->setEnabled(false); }
5647

5748
virtual void update() override
5849
{
59-
if (objectTracker_!=nullptr && objectTracker_->isEnabled())
60-
objectTracker_->updateAndGetGlobalPose(objectToTrackId_, globalFrame_);
50+
if (objectTracker_ != nullptr && objectTracker_->isEnabled())
51+
objectTracker_->updateAndGetGlobalPose(objectToTrackId_, globalFrame_);
6152
}
6253
};
63-
} // namespace cl_foundation_pose
54+
} // namespace cl_foundation_pose

‎smacc2_client_library/cl_foundation_pose/include/cl_foundation_pose/client_behaviors/cb_track_object_pose.hpp‎

Lines changed: 15 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -25,49 +25,43 @@
2525
namespace cl_foundation_pose
2626
{
2727

28-
class CbTrackObjectPose : public smacc2::SmaccClientBehavior , public smacc2::ISmaccUpdatable
28+
class CbTrackObjectPose : public smacc2::SmaccClientBehavior, public smacc2::ISmaccUpdatable
2929
{
3030
private:
31-
std::string globalFrame_;
32-
std::string objectToTrackId_;
33-
cl_foundation_pose::CpObjectTrackerTf *objectTracker_ = nullptr;
31+
std::string globalFrame_;
32+
std::string objectToTrackId_;
33+
cl_foundation_pose::CpObjectTrackerTf * objectTracker_ = nullptr;
3434

3535
public:
36-
CbTrackObjectPose(std::string objectToTrackId, std::string globalFrame="map"):
37-
globalFrame_(globalFrame),
38-
objectToTrackId_(objectToTrackId)
36+
CbTrackObjectPose(std::string objectToTrackId, std::string globalFrame = "map")
37+
: globalFrame_(globalFrame), objectToTrackId_(objectToTrackId)
3938
{
40-
4139
}
4240

43-
virtual ~CbTrackObjectPose()
44-
{
45-
46-
}
41+
virtual ~CbTrackObjectPose() {}
4742

4843
virtual void onEntry() override
4944
{
50-
requiresComponent(objectTracker_,true);
45+
requiresComponent(objectTracker_, true);
5146
RCLCPP_INFO(getLogger(), "CbTrackObjectPose onEntry");
5247
RCLCPP_INFO(getLogger(), "CbTrackObjectPose onEntry - enabled");
5348
objectTracker_->setEnabled(true);
54-
RCLCPP_INFO(getLogger(), "CbTrackObjectPose onEntry - updateAndGetGlobalPose, objectToTrackId: %s, globalFrame: %s", objectToTrackId_.c_str(), globalFrame_.c_str());
49+
RCLCPP_INFO(
50+
getLogger(),
51+
"CbTrackObjectPose onEntry - updateAndGetGlobalPose, objectToTrackId: %s, globalFrame: %s",
52+
objectToTrackId_.c_str(), globalFrame_.c_str());
5553
objectTracker_->updateAndGetGlobalPose(objectToTrackId_, globalFrame_);
56-
5754
}
5855

59-
virtual void onExit() override
60-
{
61-
objectTracker_->setEnabled(false);
62-
}
56+
virtual void onExit() override { objectTracker_->setEnabled(false); }
6357

6458
virtual void update() override
6559
{
66-
if(objectTracker_!=nullptr && objectTracker_->isEnabled())
60+
if (objectTracker_ != nullptr && objectTracker_->isEnabled())
6761
{
6862
RCLCPP_INFO(getLogger(), "CbTrackObjectPose update");
6963
objectTracker_->updateAndGetGlobalPose(objectToTrackId_, globalFrame_);
7064
}
7165
}
7266
};
73-
} // namespace cl_foundation_pose
67+
} // namespace cl_foundation_pose

‎smacc2_client_library/cl_foundation_pose/include/cl_foundation_pose/components/cp_object_tracker_1.hpp‎

Lines changed: 12 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -13,10 +13,10 @@
1313
// limitations under the License.
1414

1515
#pragma once
16+
#include <cl_foundation_pose/components/tracker_utils.hpp>
17+
#include <smacc2/client_core_components/cp_topic_subscriber.hpp>
1618
#include <smacc2/component.hpp>
1719
#include <vision_msgs/msg/detection3_d_array.hpp>
18-
#include <smacc2/client_core_components/cp_topic_subscriber.hpp>
19-
#include <cl_foundation_pose/components/tracker_utils.hpp>
2020

2121
namespace cl_foundation_pose
2222
{
@@ -25,7 +25,6 @@ using namespace smacc2::client_core_components;
2525

2626
class CpObjectTracker1 : public smacc2::ISmaccComponent
2727
{
28-
2928
public:
3029
// Declare the Component's default constructor.
3130
void onInitialize()
@@ -37,18 +36,18 @@ class CpObjectTracker1 : public smacc2::ISmaccComponent
3736
fondationPoseTopic_->onMessageReceived(&CpObjectTracker1::onDetection3DArrayReceived, this);
3837
}
3938

40-
void onDetection3DArrayReceived(const vision_msgs::msg::Detection3DArray& msg)
39+
void onDetection3DArrayReceived(const vision_msgs::msg::Detection3DArray & msg)
4140
{
4241
RCLCPP_INFO(getLogger(), "Received %ld detections", msg.detections.size());
4342

44-
for (auto &detection : msg.detections)
43+
for (auto & detection : msg.detections)
4544
{
4645
auto previouslyExistingObjectEntry = detectedObjects.find(detection.id);
4746

4847
// if we have seen this object before...
4948
if (previouslyExistingObjectEntry != detectedObjects.end())
5049
{
51-
auto& previouslyExistingObject = previouslyExistingObjectEntry->second;
50+
auto & previouslyExistingObject = previouslyExistingObjectEntry->second;
5251
previouslyExistingObject.msg = detection;
5352
}
5453
else
@@ -62,7 +61,7 @@ class CpObjectTracker1 : public smacc2::ISmaccComponent
6261
}
6362
}
6463

65-
std::optional<geometry_msgs::msg::PoseStamped> getPose(const std::string& object_id)
64+
std::optional<geometry_msgs::msg::PoseStamped> getPose(const std::string & object_id)
6665
{
6766
auto object = detectedObjects.find(object_id);
6867
if (object != detectedObjects.end())
@@ -75,13 +74,12 @@ class CpObjectTracker1 : public smacc2::ISmaccComponent
7574
return std::nullopt;
7675
}
7776

78-
private:
79-
80-
// Declare the subscriber component.
81-
CpTopicSubscriber<vision_msgs::msg::Detection3DArray>* fondationPoseTopic_;
77+
private:
78+
// Declare the subscriber component.
79+
CpTopicSubscriber<vision_msgs::msg::Detection3DArray> * fondationPoseTopic_;
8280

83-
// Declare a data structure to store the detected objects.
84-
std::map<std::string, DetectedObject> detectedObjects;
81+
// Declare a data structure to store the detected objects.
82+
std::map<std::string, DetectedObject> detectedObjects;
8583
};
8684

87-
} // namespace cl_foundation_pose
85+
} // namespace cl_foundation_pose

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