Apply clang-format 3.8 changes

moveit · Nov 18, 2016 · d6e7618 · d6e7618
1 parent 736b52d
commit d6e7618
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Showing 43 changed files with 134 additions and 104 deletions.
diff --git a/.clang-format b/.clang-format
@@ -36,7 +36,6 @@ Standard:        Auto
 IndentWidth:     2
 TabWidth:        2
 UseTab:          Never
-BreakBeforeBraces: Allman
 IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles:  false
@@ -45,4 +44,23 @@ SpacesInCStyleCastParentheses: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
 ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
 ...
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp
@@ -257,8 +257,7 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Matrix4f& g_in, const double& t
   theta4[1] = -acos_angle;
 
 #ifdef DEBUG
-  std::cout << "ComputeIK::theta3:" << numerator << "," << denominator << "," << std::endl
-            << theta4[0] << std::endl;
+  std::cout << "ComputeIK::theta3:" << numerator << "," << denominator << "," << std::endl << theta4[0] << std::endl;
 #endif
 
   for (int jj = 0; jj < 2; jj++)
@@ -420,9 +419,7 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Matrix4f& g_in, const double& t
           std::cout << "theta4: " << t4 << std::endl;
           std::cout << "theta5: " << t5 << std::endl;
           std::cout << "theta6: " << t6 << std::endl;
-          std::cout << "theta7: " << t7 << std::endl
-                    << std::endl
-                    << std::endl;
+          std::cout << "theta7: " << t7 << std::endl << std::endl << std::endl;
 #endif
           for (int lll = 0; lll < 2; lll++)
           {
@@ -743,9 +740,7 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Matrix4f& g_in, const double&
             std::cout << "theta4: " << t4 << std::endl;
             std::cout << "theta5: " << t5 << std::endl;
             std::cout << "theta6: " << t6 << std::endl;
-            std::cout << "theta7: " << t7 << std::endl
-                      << std::endl
-                      << std::endl;
+            std::cout << "theta7: " << t7 << std::endl << std::endl << std::endl;
 #endif
 
             solution_ik[0] = normalize_angle(t1 * angle_multipliers_[0]);

diff --git a/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h b/moveit_core/distance_field/include/moveit/distance_field/voxel_grid.h
@@ -348,8 +348,7 @@ VoxelGrid<T>::VoxelGrid(double size_x, double size_y, double size_z, double reso
 }
 
 template <typename T>
-VoxelGrid<T>::VoxelGrid()
-  : data_(NULL)
+VoxelGrid<T>::VoxelGrid() : data_(NULL)
 {
   for (int i = DIM_X; i <= DIM_Z; ++i)
   {

diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -148,7 +148,8 @@ class KinematicsBase
 
   /** @brief The signature for a callback that can compute IK */
   typedef boost::function<void(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_solution,
-                               moveit_msgs::MoveItErrorCodes& error_code)> IKCallbackFn;
+                               moveit_msgs::MoveItErrorCodes& error_code)>
+      IKCallbackFn;
 
   /**
    * @brief Given a desired pose of the end-effector, compute the joint angles to reach it

diff --git a/...anning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/...anning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -52,7 +52,8 @@ class PlanningRequestAdapter
 public:
   typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                const planning_interface::MotionPlanRequest& req,
-                               planning_interface::MotionPlanResponse& res)> PlannerFn;
+                               planning_interface::MotionPlanResponse& res)>
+      PlannerFn;
 
   PlanningRequestAdapter()
   {

diff --git a/moveit_core/robot_model/include/moveit/robot_model/link_model.h b/moveit_core/robot_model/include/moveit/robot_model/link_model.h
@@ -65,7 +65,8 @@ typedef std::map<std::string, const LinkModel*> LinkModelMapConst;
 
 /** \brief Map from link model instances to Eigen transforms */
 typedef std::map<const LinkModel*, Eigen::Affine3d, std::less<const LinkModel*>,
-                 Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > > LinkTransformMap;
+                 Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > >
+    LinkTransformMap;
 
 /** \brief A link from the robot. Contains the constant transform applied to the link and its geometry */
 class LinkModel

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
@@ -130,7 +130,8 @@ namespace core
 namespace
 {
 typedef std::map<const JointModel*, std::pair<std::set<const LinkModel*, OrderLinksByIndex>,
-                                              std::set<const JointModel*, OrderJointsByIndex> > > DescMap;
+                                              std::set<const JointModel*, OrderJointsByIndex> > >
+    DescMap;
 
 void computeDescendantsHelper(const JointModel* joint, std::vector<const JointModel*>& parents,
                               std::set<const JointModel*>& seen, DescMap& descendants)

diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -59,7 +59,8 @@ MOVEIT_CLASS_FORWARD(RobotState);
     the state is valid or not. Returns true if the state is valid. This call is allowed to modify \e robot_state (e.g.,
    set \e joint_group_variable_values) */
 typedef boost::function<bool(RobotState* robot_state, const JointModelGroup* joint_group,
-                             const double* joint_group_variable_values)> GroupStateValidityCallbackFn;
+                             const double* joint_group_variable_values)>
+    GroupStateValidityCallbackFn;
 
 /** \brief Representation of a robot's state. This includes position,
     velocity, acceleration and effort.
@@ -965,8 +966,8 @@ as the new values that correspond to the group */
                    Eigen::MatrixXd& jacobian, bool use_quaternion_representation = false)
   {
     updateLinkTransforms();
-    return const_cast<const RobotState*>(this)
-        ->getJacobian(group, link, reference_point_position, jacobian, use_quaternion_representation);
+    return const_cast<const RobotState*>(this)->getJacobian(group, link, reference_point_position, jacobian,
+                                                            use_quaternion_representation);
   }
 
   /** \brief Compute the Jacobian with reference to the last link of a specified group. If the group is not a chain, an

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -599,7 +599,8 @@ void moveit::core::RobotState::updateStateWithLinkAt(const LinkModel* link, cons
       global_link_transforms_[parent_link->getLinkIndex()] =
           global_link_transforms_[child_link->getLinkIndex()] *
           (child_link->getJointOriginTransform() *
-           variable_joint_transforms_[child_link->getParentJointModel()->getJointIndex()]).inverse();
+           variable_joint_transforms_[child_link->getParentJointModel()->getJointIndex()])
+              .inverse();
 
       // update link transforms for descendant links only (leaving the transform for the current link untouched)
       // with the exception of the child link we are coming backwards from

diff --git a/moveit_core/transforms/include/moveit/transforms/transforms.h b/moveit_core/transforms/include/moveit/transforms/transforms.h
@@ -52,7 +52,8 @@ MOVEIT_CLASS_FORWARD(Transforms);
 /// @brief Map frame names to the transformation matrix that can transform objects from the frame name to the planning
 /// frame
 typedef std::map<std::string, Eigen::Affine3d, std::less<std::string>,
-                 Eigen::aligned_allocator<std::pair<const std::string, Eigen::Affine3d> > > FixedTransformsMap;
+                 Eigen::aligned_allocator<std::pair<const std::string, Eigen::Affine3d> > >
+    FixedTransformsMap;
 
 /** @brief Provides an implementation of a snapshot of a transform tree that can be easily queried for
     transforming different quantities. Transforms are maintained as a list of transforms to a particular frame.

diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp
@@ -283,7 +283,7 @@ int ChainIkSolverVel_pinv_mimic::CartToJnt(const JntArray& q_in, const Twist& v_
     for (j = 0; j < rows; j++)
     {
       if (!position_ik)
-        sum += U[j](i)*v_in(j);
+        sum += U[j](i) * v_in(j);
       else
         sum += U_translate(j, i) * v_in(j);
     }
@@ -302,7 +302,7 @@ int ChainIkSolverVel_pinv_mimic::CartToJnt(const JntArray& q_in, const Twist& v_
     for (j = 0; j < jac_reduced.columns(); j++)
     {
       if (!position_ik)
-        sum += V[i](j)*tmp(j);
+        sum += V[i](j) * tmp(j);
       else
         sum += V_translate(i, j) * tmp(j);
     }

diff --git a/moveit_kinematics/lma_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp b/moveit_kinematics/lma_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp
@@ -294,7 +294,7 @@ int ChainIkSolverVel_pinv_mimic::CartToJnt(const JntArray& q_in, const Twist& v_
     for (j = 0; j < rows; j++)
     {
       if (!position_ik)
-        sum += U[j](i)*v_in(j);
+        sum += U[j](i) * v_in(j);
       else
         sum += U_translate(j, i) * v_in(j);
     }
@@ -313,7 +313,7 @@ int ChainIkSolverVel_pinv_mimic::CartToJnt(const JntArray& q_in, const Twist& v_
     for (j = 0; j < jac_reduced.columns(); j++)
     {
       if (!position_ik)
-        sum += V[i](j)*tmp(j);
+        sum += V[i](j) * tmp(j);
       else
         sum += V_translate(i, j) * tmp(j);
     }

diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -86,8 +86,7 @@ bool SrvKinematicsPlugin::initialize(const std::string& robot_description, const
 
   if (debug)
   {
-    std::cout << std::endl
-              << "Joint Model Variable Names: ------------------------------------------- " << std::endl;
+    std::cout << std::endl << "Joint Model Variable Names: ------------------------------------------- " << std::endl;
     const std::vector<std::string> jm_names = joint_model_group_->getVariableNames();
     std::copy(jm_names.begin(), jm_names.end(), std::ostream_iterator<std::string>(std::cout, "\n"));
     std::cout << std::endl;

diff --git a/...planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h b/...planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h
@@ -60,7 +60,9 @@ MOVEIT_CLASS_FORWARD(ConstraintsLibrary);
 
 struct ModelBasedPlanningContextSpecification;
 typedef boost::function<ob::PlannerPtr(const ompl::base::SpaceInformationPtr& si, const std::string& name,
-                                       const ModelBasedPlanningContextSpecification& spec)> ConfiguredPlannerAllocator;
+                                       const ModelBasedPlanningContextSpecification& spec)>
+    ConfiguredPlannerAllocator;
+
 typedef boost::function<ConfiguredPlannerAllocator(const std::string& planner_type)> ConfiguredPlannerSelector;
 
 struct ModelBasedPlanningContextSpecification

diff --git a/...l/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h b/...l/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
@@ -47,7 +47,8 @@
 namespace ompl_interface
 {
 typedef boost::function<bool(const ompl::base::State* from, const ompl::base::State* to, const double t,
-                             ompl::base::State* state)> InterpolationFunction;
+                             ompl::base::State* state)>
+    InterpolationFunction;
 typedef boost::function<double(const ompl::base::State* state1, const ompl::base::State* state2)> DistanceFunction;
 
 struct ModelBasedStateSpaceSpecification

diff --git a/...t_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp b/...t_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
@@ -86,7 +86,7 @@ ompl::base::State* ompl_interface::PoseModelStateSpace::allocState() const
   StateType* state = new StateType();
   state->values =
       new double[variable_count_];  // need to allocate this here since ModelBasedStateSpace::allocState() is not called
-  state->poses = new ompl::base::SE3StateSpace::StateType* [poses_.size()];
+  state->poses = new ompl::base::SE3StateSpace::StateType*[poses_.size()];
   for (std::size_t i = 0; i < poses_.size(); ++i)
     state->poses[i] = poses_[i].state_space_->allocState()->as<ompl::base::SE3StateSpace::StateType>();
   return state;

diff --git a/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp b/moveit_planners/ompl/ompl_interface/test/test_state_space.cpp
@@ -157,11 +157,13 @@ TEST_F(LoadPlanningModelsPr2, StateSpaceCopy)
     ss.copyToOMPLState(state, kstate);
     kstate.setToRandomPositions(kstate.getRobotModel()->getJointModelGroup(ss.getJointModelGroupName()));
     std::cout << (kstate.getGlobalLinkTransform("r_wrist_roll_link").translation() -
-                  kstate2.getGlobalLinkTransform("r_wrist_roll_link").translation()) << std::endl;
+                  kstate2.getGlobalLinkTransform("r_wrist_roll_link").translation())
+              << std::endl;
     EXPECT_TRUE(kstate.distance(kstate2) > 1e-12);
     ss.copyToRobotState(kstate, state);
     std::cout << (kstate.getGlobalLinkTransform("r_wrist_roll_link").translation() -
-                  kstate2.getGlobalLinkTransform("r_wrist_roll_link").translation()) << std::endl;
+                  kstate2.getGlobalLinkTransform("r_wrist_roll_link").translation())
+              << std::endl;
     EXPECT_TRUE(kstate.distance(kstate2) < 1e-12);
   }
 

diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
@@ -237,7 +237,7 @@ class EnvironmentChain3D : public DiscreteSpaceInformation
   void attemptShortcut(const trajectory_msgs::JointTrajectory& traj_in, trajectory_msgs::JointTrajectory& traj_out);
 
 protected:
-  bool getGridXYZInt(const Eigen::Affine3d& pose, int(&xyz)[3]) const;
+  bool getGridXYZInt(const Eigen::Affine3d& pose, int (&xyz)[3]) const;
 
   void getMotionPrimitives(const std::string& group);
 

diff --git a/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h b/moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h
@@ -115,7 +115,7 @@ struct EnvChain3DPlanningData
   }
 
   EnvChain3DHashEntry* addHashEntry(const std::vector<int>& coord, const std::vector<double>& angles,
-                                    const int(&xyz)[3], int action)
+                                    const int (&xyz)[3], int action)
   {
     EnvChain3DHashEntry* new_hash_entry = new EnvChain3DHashEntry();
     new_hash_entry->stateID = state_ID_to_coord_table_.size();

diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
@@ -886,7 +886,7 @@ int EnvironmentChain3D::getEndEffectorHeuristic(int from_stateID, int to_stateID
   //}
 }
 
-bool EnvironmentChain3D::getGridXYZInt(const Eigen::Affine3d& pose, int(&xyz)[3]) const
+bool EnvironmentChain3D::getGridXYZInt(const Eigen::Affine3d& pose, int (&xyz)[3]) const
 {
   if (!gsr_ || !gsr_->dfce_->distance_field_)
   {

diff --git a/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_interface.cpp b/moveit_planners/sbpl/core/sbpl_interface/src/sbpl_interface.cpp
@@ -77,12 +77,15 @@ bool SBPLInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_
   std::cerr << "B ret is " << b_ret << " planning time " << el << std::endl;
   std::cerr << "Expansions " << env_chain->getPlanningStatistics().total_expansions_ << " average time "
             << (env_chain->getPlanningStatistics().total_expansion_time_.toSec() /
-                (env_chain->getPlanningStatistics().total_expansions_ * 1.0)) << " hz "
+                (env_chain->getPlanningStatistics().total_expansions_ * 1.0))
+            << " hz "
             << 1.0 / (env_chain->getPlanningStatistics().total_expansion_time_.toSec() /
-                      (env_chain->getPlanningStatistics().total_expansions_ * 1.0)) << std::endl;
+                      (env_chain->getPlanningStatistics().total_expansions_ * 1.0))
+            << std::endl;
   std::cerr << "Total coll checks " << env_chain->getPlanningStatistics().coll_checks_ << " hz "
             << 1.0 / (env_chain->getPlanningStatistics().total_coll_check_time_.toSec() /
-                      (env_chain->getPlanningStatistics().coll_checks_ * 1.0)) << std::endl;
+                      (env_chain->getPlanningStatistics().coll_checks_ * 1.0))
+            << std::endl;
   std::cerr << "Path length is " << solution_state_ids.size() << std::endl;
   if (!b_ret)
   {

diff --git a/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp b/moveit_ros/benchmarks/benchmarks/src/benchmark_execution.cpp
@@ -1170,7 +1170,8 @@ void moveit_benchmarks::BenchmarkExecution::runPlanningBenchmark(BenchmarkReques
     {
       // Output name of planning algorithm
       out << planner_interfaces_to_benchmark[q]->getDescription() + "_" +
-                 planner_ids_to_benchmark_per_planner_interface[q][p] << std::endl;
+                 planner_ids_to_benchmark_per_planner_interface[q][p]
+          << std::endl;
 
       // in general, we could have properties specific for a planner;
       // right now, we do not include such properties
@@ -1312,10 +1313,7 @@ void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark(BenchmarkR
     out << "Experiment " << (planning_scene_->getName().empty() ? "NO_NAME" : planning_scene_->getName()) << std::endl;
     out << "Running on " << (host.empty() ? "UNKNOWN" : host) << std::endl;
     out << "Starting at " << boost::posix_time::to_iso_extended_string(startTime.toBoost()) << std::endl;
-    out << "<<<|" << std::endl
-        << "ROS" << std::endl
-        << req.motion_plan_request << std::endl
-        << "|>>>" << std::endl;
+    out << "<<<|" << std::endl << "ROS" << std::endl << req.motion_plan_request << std::endl << "|>>>" << std::endl;
     out << req.motion_plan_request.allowed_planning_time << " seconds per run" << std::endl;
     out << duration << " seconds spent to collect the data" << std::endl;
     out << "reachable BOOLEAN" << std::endl;
@@ -1340,10 +1338,7 @@ void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark(BenchmarkR
     out << "Experiment " << (planning_scene_->getName().empty() ? "NO_NAME" : planning_scene_->getName()) << std::endl;
     out << "Running on " << (host.empty() ? "UNKNOWN" : host) << std::endl;
     out << "Starting at " << boost::posix_time::to_iso_extended_string(startTime.toBoost()) << std::endl;
-    out << "<<<|" << std::endl
-        << "ROS" << std::endl
-        << req.motion_plan_request << std::endl
-        << "|>>>" << std::endl;
+    out << "<<<|" << std::endl << "ROS" << std::endl << req.motion_plan_request << std::endl << "|>>>" << std::endl;
     out << req.motion_plan_request.allowed_planning_time << " seconds per run" << std::endl;
     out << "reachable BOOLEAN" << std::endl;
     out << "collision_free BOOLEAN" << std::endl;

diff --git a/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h b/moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
@@ -92,7 +92,8 @@ class BenchmarkExecutor
   /// Definition of a post-run benchmark event function.  Invoked immediately after each planner calls solve().
   typedef boost::function<void(const moveit_msgs::MotionPlanRequest& request,
                                const planning_interface::MotionPlanDetailedResponse& response,
-                               PlannerRunData& run_data)> PostRunEventFunction;
+                               PlannerRunData& run_data)>
+      PostRunEventFunction;
 
   BenchmarkExecutor(const std::string& robot_description_param = "robot_description");
   virtual ~BenchmarkExecutor();

diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -941,11 +941,8 @@ void BenchmarkExecutor::writeOutput(const BenchmarkRequest& brequest, const std:
   moveit_msgs::PlanningScene scene_msg;
   planning_scene_->getPlanningSceneMsg(scene_msg);
   out << "<<<|" << std::endl;
-  out << "Motion plan request:" << std::endl
-      << brequest.request << std::endl;
-  out << "Planning scene: " << std::endl
-      << scene_msg << std::endl
-      << "|>>>" << std::endl;
+  out << "Motion plan request:" << std::endl << brequest.request << std::endl;
+  out << "Planning scene: " << std::endl << scene_msg << std::endl << "|>>>" << std::endl;
 
   // Not writing optional cpu information
 

diff --git a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
@@ -198,9 +198,8 @@ bool ApproachAndTranslateStage::evaluate(const ManipulationPlanPtr& plan) const
 
   // if translation vectors are specified in the frame of the ik link name, then we assume the frame is local;
   // otherwise, the frame is global
-  bool approach_direction_is_global_frame =
-      !robot_state::Transforms::sameFrame(plan->approach_.direction.header.frame_id,
-                                          plan->shared_data_->ik_link_->getName());
+  bool approach_direction_is_global_frame = !robot_state::Transforms::sameFrame(
+      plan->approach_.direction.header.frame_id, plan->shared_data_->ik_link_->getName());
   bool retreat_direction_is_global_frame = !robot_state::Transforms::sameFrame(plan->retreat_.direction.header.frame_id,
                                                                                plan->shared_data_->ik_link_->getName());
 

diff --git a/moveit_ros/perception/mesh_filter/src/mesh_filter.cpp b/moveit_ros/perception/mesh_filter/src/mesh_filter.cpp
@@ -256,7 +256,7 @@ void mesh_filter::MeshFilter::getFilteredDepth(float* depth) const
     const float offset = depth_filter_.getNearClippingDistance();
     while (depth < depthEnd && idx++ < first)
       if (*depth != 0 && *depth != 1.0)
-        *depth = *depth* scale + offset;
+        *depth = *depth * scale + offset;
       else
         *depth = 0;
 
@@ -265,7 +265,7 @@ void mesh_filter::MeshFilter::getFilteredDepth(float* depth) const
     float* depth2 = depthEnd - last;
     while (depth2 < depthEnd)
       if (*depth2 != 0 && *depth != 1.0)
-        *depth2 = *depth2* scale + offset;
+        *depth2 = *depth2 * scale + offset;
       else
         *depth2 = 0;
 
@@ -291,7 +291,7 @@ void mesh_filter::MeshFilter::getFilteredDepth(float* depth) const
     // 0 = on near clipping plane -> we used 0 to mark invalid points -> not visible
     // points on far clipping plane needs to be removed too
     if (*depth != 0 && *depth != 1.0)
-      *depth = *depth* scale + offset;
+      *depth = *depth * scale + offset;
     else
       *depth = 0;