Fix formatting

moveit · Jul 23, 2021 · 8df1ba0 · 8df1ba0
1 parent 45d7d7f
commit 8df1ba0
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Showing 5 changed files with 36 additions and 35 deletions.
diff --git a/...lanning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h b/...lanning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
@@ -45,8 +45,7 @@
 
 namespace planning_scene_monitor
 {
-using TrajectoryStateAddedCallback =
-    std::function<void(const moveit::core::RobotStateConstPtr&, const rclcpp::Time&)>;
+using TrajectoryStateAddedCallback = std::function<void(const moveit::core::RobotStateConstPtr&, const rclcpp::Time&)>;
 
 MOVEIT_CLASS_FORWARD(TrajectoryMonitor);  // Defines TrajectoryMonitorPtr, ConstPtr, WeakPtr... etc
 
@@ -56,11 +55,11 @@ class TrajectoryMonitor
 {
 public:
   /**
-  * @brief      This class contains the rcl interfaces for easier testing
-  */
+   * @brief      This class contains the rcl interfaces for easier testing
+   */
   class MiddlewareHandle
   {
-    public:
+  public:
     /**
      * @brief      Destroys the object.
      */
@@ -75,7 +74,8 @@ class TrajectoryMonitor
   /** @brief Constructor.
    */
   TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 0.0);
-  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, std::unique_ptr<MiddlewareHandle> middleware_handle, double sampling_frequency = 0.0);
+  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor,
+                    std::unique_ptr<MiddlewareHandle> middleware_handle, double sampling_frequency = 0.0);
 
   ~TrajectoryMonitor();
 

diff --git a/...ne_monitor/include/moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp b/...ne_monitor/include/moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp
@@ -47,7 +47,7 @@ namespace planning_scene_monitor
  */
 class TrajectoryMonitorMiddlewareHandle : public TrajectoryMonitor::MiddlewareHandle
 {
-  public:
+public:
   /**
    * @brief      Constructor
    *
@@ -60,7 +60,7 @@ class TrajectoryMonitorMiddlewareHandle : public TrajectoryMonitor::MiddlewareHa
    */
   void sleep();
 
-  private:
-    rclcpp::Rate rate_;
+private:
+  rclcpp::Rate rate_;
 };
-}
+}  // namespace planning_scene_monitor
diff --git a/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
@@ -45,12 +45,14 @@ static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.planning_sce
 
 planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor,
                                                              double sampling_frequency)
-  : TrajectoryMonitor(state_monitor, std::make_unique<TrajectoryMonitorMiddlewareHandle>(sampling_frequency), sampling_frequency)
+  : TrajectoryMonitor(state_monitor, std::make_unique<TrajectoryMonitorMiddlewareHandle>(sampling_frequency),
+                      sampling_frequency)
 {
 }
 
-planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, std::unique_ptr<TrajectoryMonitor::MiddlewareHandle> middleware_handle,
-                                                             double sampling_frequency)
+planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(
+    const CurrentStateMonitorConstPtr& state_monitor,
+    std::unique_ptr<TrajectoryMonitor::MiddlewareHandle> middleware_handle, double sampling_frequency)
   : current_state_monitor_(state_monitor)
   , middleware_handle_(std::move(middleware_handle))
   , sampling_frequency_(sampling_frequency)
@@ -59,7 +61,6 @@ planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(const CurrentStateM
   setSamplingFrequency(sampling_frequency);
 }
 
-
 planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor()
 {
   stopTrajectoryMonitor();

diff --git a/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor_middleware_handle.cpp b/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor_middleware_handle.cpp
@@ -39,11 +39,14 @@
 
 namespace planning_scene_monitor
 {
-  planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::TrajectoryMonitorMiddlewareHandle(const double sampling_frequency)
-  : rate_(sampling_frequency) {}
+planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::TrajectoryMonitorMiddlewareHandle(
+    const double sampling_frequency)
+  : rate_(sampling_frequency)
+{
+}
 
-  void planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::sleep()
-  {
-    rate_.sleep();
-  }
-}
+void planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::sleep()
+{
+  rate_.sleep();
+}
+}  // namespace planning_scene_monitor
diff --git a/moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp b/moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp
@@ -66,7 +66,7 @@ struct MockCurrentStateMonitorMiddlewareHandle : public planning_scene_monitor::
 void waitFor(std::chrono::seconds timeout, std::function<bool()> done)
 {
   const auto start = std::chrono::steady_clock::now();
-  while((std::chrono::steady_clock::now() - start) < timeout)
+  while ((std::chrono::steady_clock::now() - start) < timeout)
   {
     if (done())
     {
@@ -88,27 +88,24 @@ TEST(TrajectoryMonitorTests, test1)
   planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor;
 
   current_state_monitor = std::make_unique<planning_scene_monitor::CurrentStateMonitor>(
-    std::move(mock_current_state_monitor_middleware_handle), moveit::core::loadTestingRobotModel("panda"),
-    std::make_shared<tf2_ros::Buffer>(std::make_shared<rclcpp::Clock>())
-  );
+      std::move(mock_current_state_monitor_middleware_handle), moveit::core::loadTestingRobotModel("panda"),
+      std::make_shared<tf2_ros::Buffer>(std::make_shared<rclcpp::Clock>()));
 
-  planning_scene_monitor::TrajectoryMonitor trajectory_monitor{
-    current_state_monitor, std::move(mock_trajectory_monitor_middleware_handle), 10.0
-  };
+  planning_scene_monitor::TrajectoryMonitor trajectory_monitor{ current_state_monitor,
+                                                                std::move(mock_trajectory_monitor_middleware_handle),
+                                                                10.0 };
 
-  std::atomic<bool> callback_called{false};
-  trajectory_monitor.setOnStateAddCallback([&](const moveit::core::RobotStateConstPtr& robot_state, const rclcpp::Time& time){
-    callback_called = true;
-  });
+  std::atomic<bool> callback_called{ false };
+  trajectory_monitor.setOnStateAddCallback(
+      [&](const moveit::core::RobotStateConstPtr& robot_state, const rclcpp::Time& time) { callback_called = true; });
 
   // WHEN we call the startTrajectoryMonitor function
   trajectory_monitor.startTrajectoryMonitor();
-  waitFor(10s, [&]() {return callback_called == true;});
-
+  waitFor(10s, [&]() { return callback_called == true; });
 }
 
 int main(int argc, char** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
-}
+}