Fix code style issues with clang_format

WATonomous · Sep 20, 2024 · 5915c67 · 5915c67
1 parent 7f06596
commit 5915c67
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Showing 3 changed files with 19 additions and 14 deletions.
diff --git a/src/world_modeling/occupancy_segmentation/include/occupancy_segmentation_core.hpp b/src/world_modeling/occupancy_segmentation/include/occupancy_segmentation_core.hpp
@@ -76,7 +76,7 @@ class OccupancySegmentationCore {
   std::vector<float> FLATNESS_THR;
   std::vector<float> ELEVATION_THR;
   std::vector<double> lmins = {L_MIN, (7 * L_MIN + L_MAX) / 8, (3 * L_MIN + L_MAX) / 4,
-                             (L_MIN + L_MAX) / 2};
+                               (L_MIN + L_MAX) / 2};
   std::vector<double> lmaxs = {lmins[1], lmins[2], lmins[3], L_MAX};
 
   int num_patches = -1;
@@ -95,12 +95,14 @@ class OccupancySegmentationCore {
   std::vector<Status> _statuses;
 
   OccupancySegmentationCore();
-  OccupancySegmentationCore(int num_zones, float l_min, float l_max, float md, float mh, int min_num_points,
-                            int num_seed_points, float th_seeds, float uprightness_thresh,
-                            int num_rings_of_interest, float sensor_height, float global_el_thresh,
+  OccupancySegmentationCore(int num_zones, float l_min, float l_max, float md, float mh,
+                            int min_num_points, int num_seed_points, float th_seeds,
+                            float uprightness_thresh, int num_rings_of_interest,
+                            float sensor_height, float global_el_thresh,
                             std::vector<long int, std::allocator<long int>> &zone_rings,
                             std::vector<long int, std::allocator<long int>> &zone_sectors,
-                            std::vector<double> &flatness_thr, std::vector<double> &elevation_thr, bool adaptive_selection_en);
+                            std::vector<double> &flatness_thr, std::vector<double> &elevation_thr,
+                            bool adaptive_selection_en);
 
   void segment_ground(pcl::PointCloud<PointT> &unfiltered_cloud, pcl::PointCloud<PointT> &ground,
                       pcl::PointCloud<PointT> &nonground);

diff --git a/src/world_modeling/occupancy_segmentation/src/occupancy_segmentation_core.cpp b/src/world_modeling/occupancy_segmentation/src/occupancy_segmentation_core.cpp
@@ -5,11 +5,13 @@ template class OccupancySegmentationCore<PointXYZIRT>;
 
 template <typename PointT>
 OccupancySegmentationCore<PointT>::OccupancySegmentationCore(
-    int num_zones, float l_min, float l_max, float md, float mh, int min_num_points, int num_seed_points,
-    float th_seeds, float uprightness_thresh, int num_rings_of_interest, float sensor_height,
-    float global_el_thresh, std::vector<long int, std::allocator<long int> > &zone_rings,
+    int num_zones, float l_min, float l_max, float md, float mh, int min_num_points,
+    int num_seed_points, float th_seeds, float uprightness_thresh, int num_rings_of_interest,
+    float sensor_height, float global_el_thresh,
+    std::vector<long int, std::allocator<long int> > &zone_rings,
     std::vector<long int, std::allocator<long int> > &zone_sectors,
-    std::vector<double> &flatness_thr, std::vector<double> &elevation_thr, bool adaptive_selection_en)
+    std::vector<double> &flatness_thr, std::vector<double> &elevation_thr,
+    bool adaptive_selection_en)
     : NUM_ZONES{num_zones},
       L_MIN{l_min},
       L_MAX{l_max},
@@ -27,7 +29,8 @@ OccupancySegmentationCore<PointT>::OccupancySegmentationCore(
       FLATNESS_THR{flatness_thr.begin(), flatness_thr.end()},
       ELEVATION_THR{elevation_thr.begin(), elevation_thr.end()},
       lmins{L_MIN, (7 * L_MIN + L_MAX) / 8, (3 * L_MIN + L_MAX) / 4, (L_MIN + L_MAX) / 2},
-      lmaxs{lmins[1], lmins[2], lmins[3], L_MAX}, ADAPTIVE_SELECTION_EN{adaptive_selection_en}{
+      lmaxs{lmins[1], lmins[2], lmins[3], L_MAX},
+      ADAPTIVE_SELECTION_EN{adaptive_selection_en} {
   init_czm();
 }
 
@@ -166,7 +169,7 @@ void OccupancySegmentationCore<PointT>::segment_ground(pcl::PointCloud<PointT> &
       if (patch.points.size() > MIN_NUM_POINTS) {
         std::sort(patch.points.begin(), patch.points.end(), point_z_cmp);
         rgpf(patch, p_idx, features);
-        
+
         Status status = ground_likelihood_est(features, p_idx.concentric_idx);
         _statuses[p_idx.idx] = status;
       } else {

diff --git a/src/world_modeling/occupancy_segmentation/src/occupancy_segmentation_node.cpp b/src/world_modeling/occupancy_segmentation/src/occupancy_segmentation_node.cpp
@@ -50,9 +50,9 @@ OccupancySegmentationNode::OccupancySegmentationNode() : Node("occupancy_segment
   std::string nonground_output_topic = this->get_parameter("nonground_output_topic").as_string();
 
   _patchwork = OccupancySegmentationCore<PointXYZIRT>(
-      num_zones, l_min, l_max, md, mh, min_num_points, num_seed_points, th_seeds, uprightness_thresh,
-      num_rings_of_interest, sensor_height, global_el_thresh, zone_rings, zone_sectors,
-      flatness_thr, elevation_thr, adaptive_selection_en);
+      num_zones, l_min, l_max, md, mh, min_num_points, num_seed_points, th_seeds,
+      uprightness_thresh, num_rings_of_interest, sensor_height, global_el_thresh, zone_rings,
+      zone_sectors, flatness_thr, elevation_thr, adaptive_selection_en);
 
   _subscriber = this->create_subscription<sensor_msgs::msg::PointCloud2>(
       lidar_input_topic, 10,