Committing clang-format changes

mission/landmark_server/include/landmark_server/grid_manager.hpp

@@ -17,19 +17,22 @@ class GridManager {
   ~GridManager() = default;
 
   /**
-   * @brief Update the grid with a polygon and a value to update corresponding cells with.
+   * @brief Update the grid with a polygon and a value to update corresponding
+   * cells with.
    */
   void update_grid(int8_t *grid,
                    const Eigen::Array<float, 2, Eigen::Dynamic> &vertices,
                    int value);
 
   /**
-   * @brief Draw a line on the grid and update the value of the cells it passes through.
+   * @brief Draw a line on the grid and update the value of the cells it passes
+   * through.
    */
   void draw_line(int x0, int y0, int x1, int y1, int8_t *grid, int value);
 
   /**
-   * @brief Fill a polygon on the grid and update the value of the cells it covers.
+   * @brief Fill a polygon on the grid and update the value of the cells it
+   * covers.
    */
   void fill_polygon(int8_t *grid,
                     const Eigen::Array<float, 2, Eigen::Dynamic> &polygon,

mission/landmark_server/src/grid_manager.cpp

@@ -36,7 +36,7 @@ void GridManager::fill_polygon(
     for (int y = min_y; y < max_y; y++) {
       if (x >= 0 && x < static_cast<int>(width_) && y >= 0 &&
           y < static_cast<int>(height_) && point_in_polygon(x, y, polygon)) {
-          grid[y * width_ + x] += value;
+        grid[y * width_ + x] += value;
       }
     }
   }

mission/map_manager/include/map_manager/map_manager_ros.hpp

@@ -1,12 +1,12 @@
 #ifndef MAP_MANAGER_HPP
 #define MAP_MANAGER_HPP
 
+#include "geometry_msgs/msg/transform_stamped.hpp"
 #include "nav_msgs/srv/get_map.hpp"
 #include <geometry_msgs/msg/polygon_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
-#include "geometry_msgs/msg/transform_stamped.hpp"
 #include <tf2_ros/static_transform_broadcaster.h>
 
 #include <pcl/PointIndices.h>
@@ -47,13 +47,15 @@ class MapManagerNode : public rclcpp::Node {
   constexpr double deg2rad(double degrees) const;
   std::array<double, 2> lla2flat(double lat, double lon) const;
   std::array<double, 2> flat2lla(double px, double py) const;
-   /**
-       * @brief Publishes static transform from world NED to world SEU to use for foxglove visualization.
-       *
-       */
-      void publish_foxglove_vis_frame(const rclcpp::Time& time) const;
+  /**
+   * @brief Publishes static transform from world NED to world SEU to use for
+   * foxglove visualization.
+   *
+   */
+  void publish_foxglove_vis_frame(const rclcpp::Time &time) const;
 
-      void publish_map_to_odom_tf(double map_lat, double map_lon, const rclcpp::Time& time) const;
+  void publish_map_to_odom_tf(double map_lat, double map_lon,
+                              const rclcpp::Time &time) const;
 
   geometry_msgs::msg::PolygonStamped
   processCoordinates(const std::vector<std::array<double, 2>> &coordinates);
@@ -76,7 +78,7 @@ class MapManagerNode : public rclcpp::Node {
   rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr
       landmask_pub_;
   rclcpp::Service<nav_msgs::srv::GetMap>::SharedPtr grid_service_;
-        rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr map_origin_pub_;
+  rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr map_origin_pub_;
   bool map_origin_set_ = false;
   bool use_predef_landmask_;
   double map_origin_lat_;

mission/map_manager/src/map_manager_ros.cpp

@@ -30,8 +30,8 @@ MapManagerNode::MapManagerNode(const rclcpp::NodeOptions &options)
   map_pub_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>(
       "map", qos_transient_local);
 
-  map_origin_pub_ = this->create_publisher<sensor_msgs::msg::NavSatFix>("/map/origin", qos_transient_local);
-
+  map_origin_pub_ = this->create_publisher<sensor_msgs::msg::NavSatFix>(
+      "/map/origin", qos_transient_local);
 
   if (this->get_parameter("use_predef_map_origin").as_bool()) {
     map_origin_lat_ = this->get_parameter("map_origin_lat").as_double();
@@ -140,53 +140,51 @@ std::array<double, 2> MapManagerNode::lla2flat(double lat, double lon) const {
   return {px, py};
 }
 
- void MapManagerNode::publish_map_to_odom_tf(double map_lat, double map_lon, const rclcpp::Time& time) const
-        {
-        // Setup the transform
-        geometry_msgs::msg::TransformStamped transformStamped;
-
-        transformStamped.header.stamp = time;
-        transformStamped.header.frame_id = "map";
-        transformStamped.child_frame_id = "odom";
-
-        auto [x, y] = lla2flat(map_lat, map_lon);
-
-        transformStamped.transform.translation.x = -x;
-        transformStamped.transform.translation.y = -y;
-        transformStamped.transform.translation.z = 0;
-
-        transformStamped.transform.rotation.x = 0.0;
-        transformStamped.transform.rotation.y = 0.0;
-        transformStamped.transform.rotation.z = 0.0;
-        transformStamped.transform.rotation.w = 1.0;
+void MapManagerNode::publish_map_to_odom_tf(double map_lat, double map_lon,
+                                            const rclcpp::Time &time) const {
+  // Setup the transform
+  geometry_msgs::msg::TransformStamped transformStamped;
 
-        // Broadcast the static transform
-        static_tf_broadcaster_->sendTransform(transformStamped);
+  transformStamped.header.stamp = time;
+  transformStamped.header.frame_id = "map";
+  transformStamped.child_frame_id = "odom";
 
-    }
-
-  void MapManagerNode::publish_foxglove_vis_frame(const rclcpp::Time& time) const
-        {
-        // Setup the transform
-        geometry_msgs::msg::TransformStamped transformStamped;
+  auto [x, y] = lla2flat(map_lat, map_lon);
 
-        transformStamped.header.stamp = time;
-        transformStamped.header.frame_id = "map";
-        transformStamped.child_frame_id = "map_visualization";
+  transformStamped.transform.translation.x = -x;
+  transformStamped.transform.translation.y = -y;
+  transformStamped.transform.translation.z = 0;
 
-        transformStamped.transform.translation.x = 0.0;
-        transformStamped.transform.translation.y = 0.0;
-        transformStamped.transform.translation.z = 0.0;
-        // NED to SEU
-        transformStamped.transform.rotation.x = 0.0;
-        transformStamped.transform.rotation.y = 1.0;
-        transformStamped.transform.rotation.z = 0.0;
-        transformStamped.transform.rotation.w = 0.0;
+  transformStamped.transform.rotation.x = 0.0;
+  transformStamped.transform.rotation.y = 0.0;
+  transformStamped.transform.rotation.z = 0.0;
+  transformStamped.transform.rotation.w = 1.0;
 
-        // Broadcast the static transform
-        static_tf_broadcaster_->sendTransform(transformStamped);
+  // Broadcast the static transform
+  static_tf_broadcaster_->sendTransform(transformStamped);
+}
 
-    }
+void MapManagerNode::publish_foxglove_vis_frame(
+    const rclcpp::Time &time) const {
+  // Setup the transform
+  geometry_msgs::msg::TransformStamped transformStamped;
+
+  transformStamped.header.stamp = time;
+  transformStamped.header.frame_id = "map";
+  transformStamped.child_frame_id = "map_visualization";
+
+  transformStamped.transform.translation.x = 0.0;
+  transformStamped.transform.translation.y = 0.0;
+  transformStamped.transform.translation.z = 0.0;
+  // NED to SEU
+  transformStamped.transform.rotation.x = 0.0;
+  transformStamped.transform.rotation.y = 1.0;
+  transformStamped.transform.rotation.z = 0.0;
+  transformStamped.transform.rotation.w = 0.0;
+
+  // Broadcast the static transform
+  static_tf_broadcaster_->sendTransform(transformStamped);
+}
 
 std::array<double, 2> MapManagerNode::flat2lla(double px, double py) const {
   // Earth constants