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gazebosim · Feb 23, 2023 · 76dec37 · 76dec37
1 parent ea93a1b
commit 76dec37
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Showing 3 changed files with 12 additions and 11 deletions.
diff --git a/src/gui/plugins/environment_visualization/EnvironmentVisualization.cc b/src/gui/plugins/environment_visualization/EnvironmentVisualization.cc
@@ -75,7 +75,7 @@ class EnvironmentVisualizationTool
 
   /// \brief The sample resolution
   public: gz::msgs::Vector3d vec;
-  
+
   /// \brief Publisher to publish sample resolution
   public: transport::Node::Publisher pcPub;
 

diff --git a/src/systems/environment_preload/VisualizationTool.cc b/src/systems/environment_preload/VisualizationTool.cc
@@ -32,10 +32,10 @@ void EnvironmentVisualizationTool::CreatePointCloudTopics(
 
   for (auto key : _data->frame.Keys())
   {
-      this->pubs.emplace(key, node.Advertise<gz::msgs::Float_V>(key));
-      gz::msgs::Float_V msg;
-      this->floatFields.emplace(key, msg);
-      this->sessions.emplace(key, _data->frame[key].CreateSession());
+    this->pubs.emplace(key, node.Advertise<gz::msgs::Float_V>(key));
+    gz::msgs::Float_V msg;
+    this->floatFields.emplace(key, msg);
+    this->sessions.emplace(key, _data->frame[key].CreateSession());
   }
 }
 
@@ -92,7 +92,7 @@ void EnvironmentVisualizationTool::Step(
 /////////////////////////////////////////////////
 void EnvironmentVisualizationTool::Visualize(
     const std::shared_ptr<components::EnvironmentalData> data,
-    double _xSamples, double _ySamples, double _zSamples) 
+    double _xSamples, double _ySamples, double _zSamples)
 {
 
   for (auto key : data->frame.Keys())

diff --git a/src/systems/environment_preload/VisualizationTool.hh b/src/systems/environment_preload/VisualizationTool.hh
@@ -47,12 +47,13 @@ namespace sim
 inline namespace GZ_SIM_VERSION_NAMESPACE
 {
 
-/// \brief This class helps 
+/// \brief This class helps handle point cloud visuallizations
+/// of environment data.
 class EnvironmentVisualizationTool
 {
   /// \brief Environment constructor
   public: EnvironmentVisualizationTool();
-  
+
   /// \brief To synchronize member access.
   private: std::mutex mutex;
 
@@ -116,16 +117,16 @@ class EnvironmentVisualizationTool
 
   /// \brief Publishers for data
   private: std::unordered_map<std::string, transport::Node::Publisher> pubs;
-  
+
   /// \brief Floating point message buffers
   private: std::unordered_map<std::string, gz::msgs::Float_V> floatFields;
-  
+
   /// \brief GZ buffers
   private: transport::Node node;
 
   /// \brief Point cloud buffer
   private: gz::msgs::PointCloudPacked pcMsg;
-  
+
   /// \brief Session cursors
   private: std::unordered_map<std::string,
     gz::math::InMemorySession<double, double>> sessions;