Change format

larr_planner/include/larr_planner/type_manager/TypeManager.h

@@ -1,24 +1,21 @@
 
 
-namespace larr_planner{
-struct Position{
+namespace larr_planner {
+struct Position {
   double px;
   double py;
   double pz;
 };
-struct Quaternion{
+struct Quaternion {
   double qx;
   double qy;
   double qz;
   double qw;
 };
 struct RobotState {
   double t_sec{0.0};
-  Position pos{0.0,0.0,0.0};
-  Quaternion orientation{0.0,0.0,0.0,1.0};
-
+  Position pos{0.0, 0.0, 0.0};
+  Quaternion orientation{0.0, 0.0, 0.0, 1.0};
 };
 
-
-
-}
+} // namespace larr_planner

larr_planner/include/larr_planner/wrapper/Wrapper.h

@@ -7,16 +7,15 @@
 
 #include "larr_planner/type_manager/TypeManager.h"
 
-namespace larr_planner{
+namespace larr_planner {
 
-class Wrapper{
+class Wrapper {
 public:
   void SetRobotState(const RobotState &robot_state);
-private:
 
+private:
 };
 
-}
-
+} // namespace larr_planner
 
 #endif // LARR_PLANNER_WRAPPER_H

larr_planner/src/type_manager/TypeManager.cc

@@ -1,3 +1 @@
 #include "larr_planner/type_manager/TypeManager.h"
-
-

larr_planner/src/wrapper/Wrapper.cc

@@ -2,6 +2,4 @@
 // Created by larr on 24. 5. 17.
 //
 #include "larr_planner/wrapper/Wrapper.h"
-void larr_planner::Wrapper::SetRobotState(const larr_planner::RobotState &robot_state) {
-
-}
+void larr_planner::Wrapper::SetRobotState(const larr_planner::RobotState &robot_state) {}

larr_planner_ros2/include/larr_planner_ros2/planning_server/planning_server.h

@@ -7,18 +7,16 @@
 
 // #include <pcl/PCLPointCloud2.h>
 // #include <pcl_conversions/pcl_conversions.h>
-#include <rclcpp/rclcpp.hpp>
-#include <larr_planner/wrapper/Wrapper.h>
 #include <geometry_msgs/msg/pose_stamped.hpp>
+#include <larr_planner/wrapper/Wrapper.h>
+#include <rclcpp/rclcpp.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 using RobotStateMsg = geometry_msgs::msg::PoseStamped;
 using StateSubscriber = rclcpp::Subscription<RobotStateMsg>::SharedPtr;
 
-
 namespace larr_planner {
 
-
 class PlanningServer : public rclcpp::Node {
 private:
   Wrapper *wrapper_ptr_;
@@ -27,7 +25,6 @@ class PlanningServer : public rclcpp::Node {
   void RobotStateCallback(const RobotStateMsg::ConstSharedPtr &msg);
   RobotState ConvertToRobotState(const RobotStateMsg &state_msg);
 
-
 public:
   PlanningServer(const rclcpp::NodeOptions &options_input);
 };

larr_planner_ros2/src/planning_server/planning_server.cc

@@ -9,16 +9,16 @@ PlanningServer::PlanningServer(const rclcpp::NodeOptions &options_input) : Node(
   // Subscribe Robot State {POSITION, ORIENTATION}
   options.callback_group = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   state_subscriber_ = create_subscription<RobotStateMsg>(
-      "~/state", rclcpp::QoS(1), std::bind(&PlanningServer::RobotStateCallback,this, std::placeholders::_1),options);
+      "~/state", rclcpp::QoS(1), std::bind(&PlanningServer::RobotStateCallback, this, std::placeholders::_1), options);
 }
 
 void PlanningServer::RobotStateCallback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr &msg) {
-  wrapper_ptr_-> SetRobotState(ConvertToRobotState(*msg));
+  wrapper_ptr_->SetRobotState(ConvertToRobotState(*msg));
 }
 
 RobotState PlanningServer::ConvertToRobotState(const RobotStateMsg &state_msg) {
   RobotState state;
-  state.t_sec = state_msg.header.stamp.sec + state_msg.header.stamp.nanosec*1E-9;
+  state.t_sec = state_msg.header.stamp.sec + state_msg.header.stamp.nanosec * 1E-9;
   state.pos.px = state_msg.pose.position.x;
   state.pos.py = state_msg.pose.position.y;
   state.pos.pz = state_msg.pose.position.z;