style(pre-commit): autofix

planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef \
-  STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_        // NOLINT
-#define \
-  STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_        // NOLINT
+#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_
+STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_
+  STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
 #include "route_handler/route_handler.hpp"
@@ -27,27 +27,27 @@
 
 #include <vector>
 
-namespace autoware::static_centerline_generator
+  namespace autoware::static_centerline_generator
 {
-using ::autoware_auto_planning_msgs::msg::Path;
-using ::autoware_auto_planning_msgs::msg::PathWithLaneId;
-using ::autoware_auto_planning_msgs::msg::TrajectoryPoint;
-using ::route_handler::RouteHandler;
-class OptimizationTrajectoryBasedCenterline
-{
-public:
-  OptimizationTrajectoryBasedCenterline() = default;
-  explicit OptimizationTrajectoryBasedCenterline(rclcpp::Node & node);
-  std::vector<TrajectoryPoint> generate_centerline_with_optimization(
-    rclcpp::Node & node, const RouteHandler & route_handler,
-    const std::vector<lanelet::Id> & route_lane_ids);
+  using ::autoware_auto_planning_msgs::msg::Path;
+  using ::autoware_auto_planning_msgs::msg::PathWithLaneId;
+  using ::autoware_auto_planning_msgs::msg::TrajectoryPoint;
+  using ::route_handler::RouteHandler;
+  class OptimizationTrajectoryBasedCenterline
+  {
+  public:
+    OptimizationTrajectoryBasedCenterline() = default;
+    explicit OptimizationTrajectoryBasedCenterline(rclcpp::Node & node);
+    std::vector<TrajectoryPoint> generate_centerline_with_optimization(
+      rclcpp::Node & node, const RouteHandler & route_handler,
+      const std::vector<lanelet::Id> & route_lane_ids);
 
-private:
-  [[nodiscard]] static std::vector<TrajectoryPoint> optimize_trajectory(const Path & raw_path);
+  private:
+    [[nodiscard]] static std::vector<TrajectoryPoint> optimize_trajectory(const Path & raw_path);
 
-  rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
-  rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
-};
+    rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
+    rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
+  };
 }  // namespace autoware::static_centerline_generator
 // clang-format off
 #endif  // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT

planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp

@@ -19,8 +19,7 @@
 #include "autoware_static_centerline_generator/srv/plan_path.hpp"
 #include "autoware_static_centerline_generator/srv/plan_route.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include \
-  "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
 #include "static_centerline_generator/type_alias.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
@@ -90,8 +89,7 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node
   std::pair<int, int> traj_range_indices_{0, 0};
   std::optional<CenterlineWithRoute> centerline_with_route_{std::nullopt};
 
-  enum class CenterlineSource
-  {
+  enum class CenterlineSource {
     OptimizationTrajectoryBase = 0,
     BagEgoTrajectoryBase,
   };

planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp

@@ -49,10 +49,9 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
       constexpr double epsilon = 1e-1;
       if (
         std::abs(centerline_traj_points.back().pose.position.x - ros_msg->pose.pose.position.x) <
-        epsilon &&
+          epsilon &&
         std::abs(centerline_traj_points.back().pose.position.y - ros_msg->pose.pose.position.y) <
-        epsilon)
-      {
+          epsilon) {
         continue;
       }
     }

planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp

@@ -12,8 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include \
-  "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
 
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
@@ -91,19 +90,19 @@ OptimizationTrajectoryBasedCenterline::generate_centerline_with_optimization(
 
   // extract path with lane id from lanelets
   const auto raw_path_with_lane_id = [&]() {
-      const auto non_resampled_path_with_lane_id = utils::get_path_with_lane_id(
-        route_handler, route_lanelets, start_center_pose, ego_nearest_dist_threshold,
-        ego_nearest_yaw_threshold);
-      return motion_utils::resamplePath(non_resampled_path_with_lane_id, behavior_path_interval);
-    }();
+    const auto non_resampled_path_with_lane_id = utils::get_path_with_lane_id(
+      route_handler, route_lanelets, start_center_pose, ego_nearest_dist_threshold,
+      ego_nearest_yaw_threshold);
+    return motion_utils::resamplePath(non_resampled_path_with_lane_id, behavior_path_interval);
+  }();
   pub_raw_path_with_lane_id_->publish(raw_path_with_lane_id);
   RCLCPP_INFO(node.get_logger(), "Calculated raw path with lane id and published.");
 
   // convert path with lane id to path
   const auto raw_path = [&]() {
-      const auto non_resampled_path = convert_to_path(raw_path_with_lane_id);
-      return motion_utils::resamplePath(non_resampled_path, behavior_vel_interval);
-    }();
+    const auto non_resampled_path = convert_to_path(raw_path_with_lane_id);
+    return motion_utils::resamplePath(non_resampled_path, behavior_vel_interval);
+  }();
   pub_raw_path_->publish(raw_path);
   RCLCPP_INFO(node.get_logger(), "Converted to path and published.");
 
@@ -121,9 +120,9 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
 {
   // convert to trajectory points
   const auto raw_traj_points = [&]() {
-      const auto raw_traj = convert_to_trajectory(raw_path);
-      return motion_utils::convertToTrajectoryPointArray(raw_traj);
-    }();
+    const auto raw_traj = convert_to_trajectory(raw_path);
+    return motion_utils::convertToTrajectoryPointArray(raw_traj);
+  }();
 
   // create an instance of elastic band and model predictive trajectory.
   const auto eb_path_smoother_ptr =
@@ -133,25 +132,24 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
 
   // NOTE: The optimization is executed every valid_optimized_traj_points_num points.
   constexpr int valid_optimized_traj_points_num = 10;
-  const int traj_segment_num = static_cast<int>(raw_traj_points.size()) /
-    valid_optimized_traj_points_num;
+  const int traj_segment_num =
+    static_cast<int>(raw_traj_points.size()) / valid_optimized_traj_points_num;
 
   // NOTE: num_initial_optimization exists to make the both optimizations stable since they may use
   // warm start.
   constexpr int num_initial_optimization = 2;
 
   std::vector<TrajectoryPoint> whole_optimized_traj_points;
   for (int virtual_ego_pose_idx = -num_initial_optimization;
-    virtual_ego_pose_idx < traj_segment_num; ++virtual_ego_pose_idx)
-  {
+       virtual_ego_pose_idx < traj_segment_num; ++virtual_ego_pose_idx) {
     // calculate virtual ego pose for the optimization
     constexpr int virtual_ego_pose_offset_idx = 1;
     const auto virtual_ego_pose =
       raw_traj_points
-      .at(
-      valid_optimized_traj_points_num * std::max(virtual_ego_pose_idx, 0) +
-      virtual_ego_pose_offset_idx)
-      .pose;
+        .at(
+          valid_optimized_traj_points_num * std::max(virtual_ego_pose_idx, 0) +
+          virtual_ego_pose_offset_idx)
+        .pose;
 
     // smooth trajectory by elastic band in the path_smoother package
     const auto smoothed_traj_points =