From b565a75172c7cc6fcae3c6d1050bd6f8a4e014f7 Mon Sep 17 00:00:00 2001
From: yunwoo <YunwooLee94@github.com>
Date: Sun, 19 May 2024 00:06:36 +0900
Subject: [PATCH] Change format

---
 .../larr_planner/type_manager/TypeManager.h       | 15 ++++++---------
 .../include/larr_planner/wrapper/Wrapper.h        |  9 ++++-----
 larr_planner/src/type_manager/TypeManager.cc      |  2 --
 larr_planner/src/wrapper/Wrapper.cc               |  4 +---
 .../planning_server/planning_server.h             |  7 ++-----
 .../src/planning_server/planning_server.cc        |  6 +++---
 6 files changed, 16 insertions(+), 27 deletions(-)

diff --git a/larr_planner/include/larr_planner/type_manager/TypeManager.h b/larr_planner/include/larr_planner/type_manager/TypeManager.h
index 8710d40..0f64bf6 100644
--- a/larr_planner/include/larr_planner/type_manager/TypeManager.h
+++ b/larr_planner/include/larr_planner/type_manager/TypeManager.h
@@ -1,12 +1,12 @@
 
 
-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;
@@ -14,11 +14,8 @@ struct Quaternion{
 };
 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
diff --git a/larr_planner/include/larr_planner/wrapper/Wrapper.h b/larr_planner/include/larr_planner/wrapper/Wrapper.h
index b35b33c..a0f9ad9 100644
--- a/larr_planner/include/larr_planner/wrapper/Wrapper.h
+++ b/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
diff --git a/larr_planner/src/type_manager/TypeManager.cc b/larr_planner/src/type_manager/TypeManager.cc
index 5e0d4d8..1442ada 100644
--- a/larr_planner/src/type_manager/TypeManager.cc
+++ b/larr_planner/src/type_manager/TypeManager.cc
@@ -1,3 +1 @@
 #include "larr_planner/type_manager/TypeManager.h"
-
-
diff --git a/larr_planner/src/wrapper/Wrapper.cc b/larr_planner/src/wrapper/Wrapper.cc
index 46947d3..6d0f4e1 100644
--- a/larr_planner/src/wrapper/Wrapper.cc
+++ b/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) {}
diff --git a/larr_planner_ros2/include/larr_planner_ros2/planning_server/planning_server.h b/larr_planner_ros2/include/larr_planner_ros2/planning_server/planning_server.h
index f4dc00f..992643f 100644
--- a/larr_planner_ros2/include/larr_planner_ros2/planning_server/planning_server.h
+++ b/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);
 };
diff --git a/larr_planner_ros2/src/planning_server/planning_server.cc b/larr_planner_ros2/src/planning_server/planning_server.cc
index dd109a0..3910db8 100644
--- a/larr_planner_ros2/src/planning_server/planning_server.cc
+++ b/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;