From 38592087bbbf6e85f12b2a1de6d56b739cbcdc5c Mon Sep 17 00:00:00 2001
From: Clang Robot <robot@example.com>
Date: Sun, 5 Nov 2023 14:46:43 +0000
Subject: [PATCH] Committing clang-format changes

---
 .../thruster_allocator/allocator_utils.hpp    | 16 +++++-----
 .../pseudoinverse_allocator.hpp               | 10 +++++--
 .../thruster_allocator/src/allocator_ros.cpp  | 30 ++++++++++++-------
 3 files changed, 35 insertions(+), 21 deletions(-)

diff --git a/motion/thruster_allocator/include/thruster_allocator/allocator_utils.hpp b/motion/thruster_allocator/include/thruster_allocator/allocator_utils.hpp
index 9d9c477a..935d37dc 100644
--- a/motion/thruster_allocator/include/thruster_allocator/allocator_utils.hpp
+++ b/motion/thruster_allocator/include/thruster_allocator/allocator_utils.hpp
@@ -100,17 +100,19 @@ inline void arrayEigenToMsg(const Eigen::VectorXd &u,
   msg.thrust = u_vec;
 }
 
-inline Eigen::MatrixXd doubleArrayToEigenMatrix(const std::vector<double> &matrix, int rows, int cols) {
+inline Eigen::MatrixXd
+doubleArrayToEigenMatrix(const std::vector<double> &matrix, int rows,
+                         int cols) {
 
-    Eigen::MatrixXd result(rows, cols);
+  Eigen::MatrixXd result(rows, cols);
 
-    for (int i = 0; i < rows; ++i) {
-        for (int j = 0; j < cols; ++j) {
-            result(i, j) = matrix[i * cols + j];
-        }
+  for (int i = 0; i < rows; ++i) {
+    for (int j = 0; j < cols; ++j) {
+      result(i, j) = matrix[i * cols + j];
     }
+  }
 
-    return result;
+  return result;
 }
 
 #endif // VORTEX_ALLOCATOR_ALLOCATOR_UTILS_HPP
diff --git a/motion/thruster_allocator/include/thruster_allocator/pseudoinverse_allocator.hpp b/motion/thruster_allocator/include/thruster_allocator/pseudoinverse_allocator.hpp
index e5f256f8..0d94596e 100644
--- a/motion/thruster_allocator/include/thruster_allocator/pseudoinverse_allocator.hpp
+++ b/motion/thruster_allocator/include/thruster_allocator/pseudoinverse_allocator.hpp
@@ -1,6 +1,8 @@
 /**
  * @file pseudoinverse_allocator.hpp
- * @brief Contains the PseudoinverseAllocator class, which implements the unweighted pseudoinverse-based allocator described in e.g. Fossen 2011 Handbook of Marine Craft Hydrodynamics and Motion Control (chapter 12.3.2).
+ * @brief Contains the PseudoinverseAllocator class, which implements the
+ * unweighted pseudoinverse-based allocator described in e.g. Fossen 2011
+ * Handbook of Marine Craft Hydrodynamics and Motion Control (chapter 12.3.2).
  */
 
 #ifndef VORTEX_ALLOCATOR_PSEUDOINVERSE_ALLOCATOR_HPP
@@ -9,7 +11,8 @@
 #include <eigen3/Eigen/Eigen>
 
 /**
- * @brief The PseudoinverseAllocator class calculates the allocated thrust given the input torques using the pseudoinverse allocator.
+ * @brief The PseudoinverseAllocator class calculates the allocated thrust given
+ * the input torques using the pseudoinverse allocator.
  */
 class PseudoinverseAllocator {
 public:
@@ -21,7 +24,8 @@ class PseudoinverseAllocator {
   explicit PseudoinverseAllocator(const Eigen::MatrixXd &T_pinv);
 
   /**
-   * @brief Calculates the allocated thrust given the input torques using the pseudoinverse allocator.
+   * @brief Calculates the allocated thrust given the input torques using the
+   * pseudoinverse allocator.
    *
    * @param tau The input torques as a vector.
    * @return The allocated thrust as a vector.
diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp
index 71da83a5..2de729c6 100644
--- a/motion/thruster_allocator/src/allocator_ros.cpp
+++ b/motion/thruster_allocator/src/allocator_ros.cpp
@@ -10,27 +10,35 @@ using namespace std::chrono_literals;
 
 ThrusterAllocator::ThrusterAllocator()
     : Node("thruster_allocator_node"),
-      pseudoinverse_allocator_(Eigen::MatrixXd::Zero(3, 4)) 
-{
-  //TEST
-  // std::vector<double> test = {0.70711, 0.70711, 0.70711, 0.70711, -0.70711, 0.70711, -0.70711, 0.70711, 0.27738, 0.27738, -0.27738, -0.27738};
+      pseudoinverse_allocator_(Eigen::MatrixXd::Zero(3, 4)) {
+  // TEST
+  //  std::vector<double> test = {0.70711, 0.70711, 0.70711, 0.70711, -0.70711,
+  //  0.70711, -0.70711, 0.70711, 0.27738, 0.27738, -0.27738, -0.27738};
 
   declare_parameter("propulsion.dofs.num", 3);
   declare_parameter("propulsion.thrusters.num", 4);
   declare_parameter("propulsion.thrusters.min", -100);
   declare_parameter("propulsion.thrusters.max", 100);
   declare_parameter("propulsion.thrusters.direction", std::vector<int64_t>{0});
-  declare_parameter("propulsion.thrusters.configuration_matrix", std::vector<double>{0});
+  declare_parameter("propulsion.thrusters.configuration_matrix",
+                    std::vector<double>{0});
 
   num_dof_ = get_parameter("propulsion.dofs.num").as_int();
   num_thrusters_ = get_parameter("propulsion.thrusters.num").as_int();
   min_thrust_ = get_parameter("propulsion.thrusters.min").as_int();
-  max_thrust_= get_parameter("propulsion.thrusters.max").as_int();
-  direction_ = get_parameter("propulsion.thrusters.direction").as_integer_array();
-  thrust_configuration = doubleArrayToEigenMatrix(get_parameter("propulsion.thrusters.configuration_matrix").as_double_array(), num_dof_, num_thrusters_);
-  
-  RCLCPP_INFO(get_logger(), printMatrix("Test thrust_configuration test from ", thrust_configuration).str().c_str());
-  
+  max_thrust_ = get_parameter("propulsion.thrusters.max").as_int();
+  direction_ =
+      get_parameter("propulsion.thrusters.direction").as_integer_array();
+  thrust_configuration = doubleArrayToEigenMatrix(
+      get_parameter("propulsion.thrusters.configuration_matrix")
+          .as_double_array(),
+      num_dof_, num_thrusters_);
+
+  RCLCPP_INFO(get_logger(), printMatrix("Test thrust_configuration test from ",
+                                        thrust_configuration)
+                                .str()
+                                .c_str());
+
   subscription_ = this->create_subscription<geometry_msgs::msg::Wrench>(
       "thrust/wrench_input", 1,
       std::bind(&ThrusterAllocator::wrench_callback, this,